import os os.environ["OMP_NUM_THREADS"] = str(1) import numpy as np import cupoch as cph cph.initialize_allocator(cph.PoolAllocation, 1000000000) import open3d as o3d import time def measure_time(obj, method_name, device, *args): fn = getattr(obj, method_name) start = time.time() res = fn(*args) elapsed_time = time.time() - start print("%s (%s) [sec]:" % (method_name, device), elapsed_time) return res, elapsed_time pinhole_camera_intrinsic_cpu = o3d.io.read_pinhole_camera_intrinsic( "../../testdata/camera_primesense.json") source_color_cpu = o3d.io.read_image("../../testdata/rgbd/color/00000.jpg") source_depth_cpu = o3d.io.read_image("../../testdata/rgbd/depth/00000.png") target_color_cpu = o3d.io.read_image("../../testdata/rgbd/color/00001.jpg") target_depth_cpu = o3d.io.read_image("../../testdata/rgbd/depth/00001.png") print(source_color_cpu) pinhole_camera_intrinsic_gpu = cph.io.read_pinhole_camera_intrinsic( "../../testdata/camera_primesense.json") source_color_gpu = cph.io.read_image("../../testdata/rgbd/color/00000.jpg") source_depth_gpu = cph.io.read_image("../../testdata/rgbd/depth/00000.png") target_color_gpu = cph.io.read_image("../../testdata/rgbd/color/00001.jpg") target_depth_gpu = cph.io.read_image("../../testdata/rgbd/depth/00001.png")
import sys, os import argparse import pyrealsense2 as rs import numpy as np from enum import IntEnum from ros_detect_planes_from_depth_img.plane_detector import test_PlaneDetector_send import scipy.ndimage as nd from read_bag import depth_filter from datetime import datetime import cupoch as x3d x3d.initialize_allocator(x3d.PoolAllocation, 1000000000) def get_intrinsic_matrix(frame): intrinsics = frame.profile.as_video_stream_profile().intrinsics out = x3d.camera.PinholeCameraIntrinsic(1280, 720, intrinsics.fx, intrinsics.fy, intrinsics.ppx, intrinsics.ppy) return out def plane_detection(color_image, depth_array, loop=1): planes_mask, planes_normal, list_plane_params = test_PlaneDetector_send(\ img_color=color_image, img_depth=depth_array) for idx in range(loop - 1): planes_mask_x, planes_normal_x, list_plane_params_x = test_PlaneDetector_send(\ img_color=color_image, img_depth=depth_array) planes_mask += planes_mask_x planes_mask_binary = planes_mask r1, g1, b1 = 255, 0, 40 # Original value