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