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sample_integrator_pv.py
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#------------------------------------------------------------------------------
# RGBD integration using Open3D. Color information comes from the front RGB
# camera.
# Press space to stop.
#------------------------------------------------------------------------------
from pynput import keyboard
import numpy as np
import multiprocessing as mp
import open3d as o3d
import cv2
import hl2ss
import hl2ss_lnm
import hl2ss_mp
import hl2ss_3dcv
# Settings --------------------------------------------------------------------
# HoloLens address
host = '192.168.1.7'
# Calibration path (must exist but can be empty)
calibration_path = '../calibration'
# Camera parameters
pv_width = 640
pv_height = 360
pv_framerate = 30
pv_exposure_mode = hl2ss.PV_ExposureMode.Manual
pv_exposure = hl2ss.PV_ExposureValue.Max // 4
pv_iso_speed_mode = hl2ss.PV_IsoSpeedMode.Manual
pv_iso_speed_value = 1600
pv_white_balance = hl2ss.PV_ColorTemperaturePreset.Manual
# Buffer length in seconds
buffer_length = 10
# Integration parameters
voxel_length = 1/100
sdf_trunc = 0.04
max_depth = 3.0
#------------------------------------------------------------------------------
if __name__ == '__main__':
# Keyboard events ---------------------------------------------------------
enable = True
def on_press(key):
global enable
enable = key != keyboard.Key.space
return enable
listener = keyboard.Listener(on_press=on_press)
listener.start()
# Start PV Subsystem ------------------------------------------------------
hl2ss_lnm.start_subsystem_pv(host, hl2ss.StreamPort.PERSONAL_VIDEO)
# Wait for PV subsystem and fix exposure, iso speed, and white balance ----
ipc_rc = hl2ss_lnm.ipc_rc(host, hl2ss.IPCPort.REMOTE_CONFIGURATION)
ipc_rc.open()
ipc_rc.pv_wait_for_subsystem(True)
ipc_rc.pv_set_exposure(pv_exposure_mode, pv_exposure)
ipc_rc.pv_set_iso_speed(pv_iso_speed_mode, pv_iso_speed_value)
ipc_rc.pv_set_white_balance_preset(pv_white_balance)
ipc_rc.close()
# Get RM Depth Long Throw calibration -------------------------------------
# Calibration data will be downloaded if it's not in the calibration folder
calibration_lt = hl2ss_3dcv.get_calibration_rm(host, hl2ss.StreamPort.RM_DEPTH_LONGTHROW, calibration_path)
uv2xy = hl2ss_3dcv.compute_uv2xy(calibration_lt.intrinsics, hl2ss.Parameters_RM_DEPTH_LONGTHROW.WIDTH, hl2ss.Parameters_RM_DEPTH_LONGTHROW.HEIGHT)
xy1, scale = hl2ss_3dcv.rm_depth_compute_rays(uv2xy, calibration_lt.scale)
# Create Open3D integrator and visualizer ---------------------------------
volume = o3d.pipelines.integration.ScalableTSDFVolume(voxel_length=voxel_length, sdf_trunc=sdf_trunc, color_type=o3d.pipelines.integration.TSDFVolumeColorType.RGB8)
intrinsics_depth = o3d.camera.PinholeCameraIntrinsic(hl2ss.Parameters_RM_DEPTH_LONGTHROW.WIDTH, hl2ss.Parameters_RM_DEPTH_LONGTHROW.HEIGHT, calibration_lt.intrinsics[0, 0], calibration_lt.intrinsics[1, 1], calibration_lt.intrinsics[2, 0], calibration_lt.intrinsics[2, 1])
vis = o3d.visualization.Visualizer()
vis.create_window()
first_pcd = True
# Start PV and RM Depth Long Throw streams --------------------------------
producer = hl2ss_mp.producer()
producer.configure(hl2ss.StreamPort.PERSONAL_VIDEO, hl2ss_lnm.rx_pv(host, hl2ss.StreamPort.PERSONAL_VIDEO, width=pv_width, height=pv_height, framerate=pv_framerate, decoded_format='rgb24'))
producer.configure(hl2ss.StreamPort.RM_DEPTH_LONGTHROW, hl2ss_lnm.rx_rm_depth_longthrow(host, hl2ss.StreamPort.RM_DEPTH_LONGTHROW))
producer.initialize(hl2ss.StreamPort.PERSONAL_VIDEO, pv_framerate * buffer_length)
producer.initialize(hl2ss.StreamPort.RM_DEPTH_LONGTHROW, hl2ss.Parameters_RM_DEPTH_LONGTHROW.FPS * buffer_length)
producer.start(hl2ss.StreamPort.PERSONAL_VIDEO)
producer.start(hl2ss.StreamPort.RM_DEPTH_LONGTHROW)
consumer = hl2ss_mp.consumer()
manager = mp.Manager()
sink_pv = consumer.create_sink(producer, hl2ss.StreamPort.PERSONAL_VIDEO, manager, None)
sink_depth = consumer.create_sink(producer, hl2ss.StreamPort.RM_DEPTH_LONGTHROW, manager, ...)
sink_pv.get_attach_response()
sink_depth.get_attach_response()
# Initialize PV intrinsics and extrinsics ---------------------------------
pv_intrinsics = hl2ss.create_pv_intrinsics_placeholder()
pv_extrinsics = np.eye(4, 4, dtype=np.float32)
# Main Loop ---------------------------------------------------------------
while (enable):
# Wait for RM Depth Long Throw frame ----------------------------------
sink_depth.acquire()
# Get RM Depth Long Throw frame and nearest (in time) PV frame --------
_, data_lt = sink_depth.get_most_recent_frame()
if ((data_lt is None) or (not hl2ss.is_valid_pose(data_lt.pose))):
continue
_, data_pv = sink_pv.get_nearest(data_lt.timestamp)
if ((data_pv is None) or (not hl2ss.is_valid_pose(data_pv.pose))):
continue
# Preprocess frames ---------------------------------------------------
depth = hl2ss_3dcv.rm_depth_undistort(data_lt.payload.depth, calibration_lt.undistort_map)
depth = hl2ss_3dcv.rm_depth_normalize(depth, scale)
color = data_pv.payload.image
# Update PV intrinsics ------------------------------------------------
# PV intrinsics may change between frames due to autofocus
pv_intrinsics = hl2ss.update_pv_intrinsics(pv_intrinsics, data_pv.payload.focal_length, data_pv.payload.principal_point)
color_intrinsics, color_extrinsics = hl2ss_3dcv.pv_fix_calibration(pv_intrinsics, pv_extrinsics)
# Generate aligned RGBD image -----------------------------------------
lt_points = hl2ss_3dcv.rm_depth_to_points(xy1, depth)
lt_to_world = hl2ss_3dcv.camera_to_rignode(calibration_lt.extrinsics) @ hl2ss_3dcv.reference_to_world(data_lt.pose)
world_to_lt = hl2ss_3dcv.world_to_reference(data_lt.pose) @ hl2ss_3dcv.rignode_to_camera(calibration_lt.extrinsics)
world_to_pv_image = hl2ss_3dcv.world_to_reference(data_pv.pose) @ hl2ss_3dcv.rignode_to_camera(color_extrinsics) @ hl2ss_3dcv.camera_to_image(color_intrinsics)
world_points = hl2ss_3dcv.transform(lt_points, lt_to_world)
pv_uv = hl2ss_3dcv.project(world_points, world_to_pv_image)
color = cv2.remap(color, pv_uv[:, :, 0], pv_uv[:, :, 1], cv2.INTER_LINEAR)
mask_uv = hl2ss_3dcv.slice_to_block((pv_uv[:, :, 0] < 0) | (pv_uv[:, :, 0] >= pv_width) | (pv_uv[:, :, 1] < 0) | (pv_uv[:, :, 1] >= pv_height))
depth[mask_uv] = 0
# Convert to Open3D RGBD image ----------------------------------------
color_image = o3d.geometry.Image(color)
depth_image = o3d.geometry.Image(depth)
rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(color_image, depth_image, depth_scale=1, depth_trunc=max_depth, convert_rgb_to_intensity=False)
# Integrate RGBD and display point cloud ------------------------------
volume.integrate(rgbd, intrinsics_depth, world_to_lt.transpose())
pcd_tmp = volume.extract_point_cloud()
if (first_pcd):
first_pcd = False
pcd = pcd_tmp
vis.add_geometry(pcd)
else:
pcd.points = pcd_tmp.points
pcd.colors = pcd_tmp.colors
vis.update_geometry(pcd)
vis.poll_events()
vis.update_renderer()
# Stop PV and RM Depth Long Throw streams ---------------------------------
sink_pv.detach()
sink_depth.detach()
producer.stop(hl2ss.StreamPort.PERSONAL_VIDEO)
producer.stop(hl2ss.StreamPort.RM_DEPTH_LONGTHROW)
# Stop PV subsystem -------------------------------------------------------
hl2ss_lnm.stop_subsystem_pv(host, hl2ss.StreamPort.PERSONAL_VIDEO)
# Stop keyboard events ----------------------------------------------------
listener.join()
# Show final point cloud --------------------------------------------------
vis.run()