Add draft visualization for the voxels of the VoxelHashMap

cpp/kiss_icp/core/VoxelHashMap.cpp

@@ -56,6 +56,17 @@ std::vector<Eigen::Vector3d> VoxelHashMap::Pointcloud() const {
     return points;
 }
 
+// Get the indices of the occupided voxels as points, mainly used for visualization
+std::vector<Voxel> VoxelHashMap::GetVoxels() const {
+    std::vector<Voxel> voxels;
+    voxels.reserve(map_.size());
+    for (const auto &[voxel, voxel_block] : map_) {
+        (void)voxel_block;
+        voxels.emplace_back(voxel);
+    }
+    return voxels;
+}
+
 void VoxelHashMap::Update(const std::vector<Eigen::Vector3d> &points,
                           const Eigen::Vector3d &origin) {
     AddPoints(points);

cpp/kiss_icp/core/VoxelHashMap.hpp

@@ -49,6 +49,7 @@ struct VoxelHashMap {
     void RemovePointsFarFromLocation(const Eigen::Vector3d &origin);
     std::vector<Eigen::Vector3d> Pointcloud() const;
     std::vector<Eigen::Vector3d> GetPoints(const std::vector<Voxel> &query_voxels) const;
+    std::vector<Voxel> GetVoxels() const;
 
     double voxel_size_;
     double max_distance_;

python/kiss_icp/mapping.py

@@ -66,3 +66,7 @@ def remove_far_away_points(self, origin):
     def point_cloud(self) -> np.ndarray:
         """Return the internal representaion as a np.array (pointcloud)."""
         return np.asarray(self._internal_map._point_cloud())
+
+    def get_voxels(self) -> np.ndarray:
+        """Return the occupied voxels, in indices (i,j,k( as a np.array."""
+        return np.asarray(self._internal_map._get_voxels())

python/kiss_icp/pipeline.py

@@ -77,6 +77,7 @@ def __init__(
 
         # Visualizer
         self.visualizer = RegistrationVisualizer() if visualize else StubVisualizer()
+        self.visualizer.voxel_size = self.config.mapping.voxel_size
         if hasattr(self._dataset, "use_global_visualizer"):
             self.visualizer.global_view = self._dataset.use_global_visualizer
 

python/kiss_icp/pybind/kiss_icp_pybind.cpp

@@ -72,7 +72,8 @@ PYBIND11_MODULE(kiss_icp_pybind, m) {
             "points"_a, "pose"_a)
         .def("_add_points", &VoxelHashMap::AddPoints, "points"_a)
         .def("_remove_far_away_points", &VoxelHashMap::RemovePointsFarFromLocation, "origin"_a)
-        .def("_point_cloud", &VoxelHashMap::Pointcloud);
+        .def("_point_cloud", &VoxelHashMap::Pointcloud)
+        .def("_get_voxels", &VoxelHashMap::GetVoxels);
 
     // Point Cloud registration
     py::class_<Registration> internal_registration(m, "_Registration", "Don't use this");

python/kiss_icp/tools/visualizer.py

@@ -34,11 +34,13 @@
 BLACK = np.array([0, 0, 0]) / 255.0
 BLUE = np.array([0.4, 0.5, 0.9])
 GRAY = np.array([0.4, 0.4, 0.4])
+LIGHT_GRAY = np.array([0.9, 0.9, 0.9])
 SPHERE_SIZE = 0.20
 
 
 class StubVisualizer(ABC):
     def __init__(self):
+        self.voxel_size = 1.0
         pass
 
     def update(self, source, keypoints, target_map, pose):
@@ -63,6 +65,9 @@ def __init__(self):
         self.source = self.o3d.geometry.PointCloud()
         self.keypoints = self.o3d.geometry.PointCloud()
         self.target = self.o3d.geometry.PointCloud()
+        self.voxel_map = self.o3d.geometry.VoxelGrid()
+        self.voxel_size = 1.0
+        self.voxel_map.voxel_size = self.voxel_size
         self.frames = []
 
         # Initialize visualizer
@@ -74,18 +79,19 @@ def __init__(self):
         self.render_map = True
         self.render_source = True
         self.render_keypoints = False
+        self.render_voxel_grid = False
         self.global_view = False
         self.render_trajectory = True
         # Cache the state of the visualizer
         self.state = (
             self.render_map,
             self.render_keypoints,
             self.render_source,
+            self.render_voxel_grid,
         )
 
     def update(self, source, keypoints, target_map, pose):
-        target = target_map.point_cloud()
-        self._update_geometries(source, keypoints, target, pose)
+        self._update_geometries(source, keypoints, target_map, pose)
         while self.block_vis:
             self.vis.poll_events()
             self.vis.update_renderer()
@@ -100,8 +106,10 @@ def _initialize_visualizer(self):
         self.vis.add_geometry(self.source)
         self.vis.add_geometry(self.keypoints)
         self.vis.add_geometry(self.target)
+        self.vis.add_geometry(self.voxel_map)
         self._set_black_background(self.vis)
         self.vis.get_render_option().point_size = 1
+        self.vis.get_render_option().mesh_show_wireframe = True
         print(
             f"{w_name} initialized. Press:\n"
             "\t[SPACE] to pause/start\n"
@@ -130,6 +138,7 @@ def _register_key_callbacks(self):
         self._register_key_callback(["F"], self._toggle_source)
         self._register_key_callback(["K"], self._toggle_keypoints)
         self._register_key_callback(["M"], self._toggle_map)
+        self._register_key_callback(["G"], self._toggle_voxel_grid)
         self._register_key_callback(["T"], self._toggle_trajectory)
         self._register_key_callback(["B"], self._set_black_background)
         self._register_key_callback(["W"], self._set_white_background)
@@ -172,6 +181,16 @@ def _toggle_map(self, vis):
         self.render_map = not self.render_map
         return False
 
+    def _toggle_voxel_grid(self, vis):
+        if not self.global_view and not self.render_voxel_grid:
+            print(
+                "[WARNING] Can't render voxel grid in local view. "
+                "Open3D does not support VoxelGrid rotation"
+            )
+            return
+        self.render_voxel_grid = not self.render_voxel_grid
+        return False
+
     def _toggle_view(self, vis):
         self.global_view = not self.global_view
         self._trajectory_handle()
@@ -194,7 +213,7 @@ def _trajectory_handle(self):
             for frame in self.frames:
                 self.vis.remove_geometry(frame, reset_bounding_box=False)
 
-    def _update_geometries(self, source, keypoints, target, pose):
+    def _update_geometries(self, source, keypoints, target_map, pose):
         # Source hot frame
         if self.render_source:
             self.source.points = self.o3d.utility.Vector3dVector(source)
@@ -215,15 +234,26 @@ def _update_geometries(self, source, keypoints, target, pose):
 
         # Target Map
         if self.render_map:
-            target = copy.deepcopy(target)
+            target = target_map.point_cloud()
             self.target.points = self.o3d.utility.Vector3dVector(target)
             if self.global_view:
-                self.target.paint_uniform_color(GRAY)
+                #  self.target.paint_uniform_color(GRAY)
+                pass
             else:
                 self.target.transform(np.linalg.inv(pose))
         else:
             self.target.points = self.o3d.utility.Vector3dVector()
 
+        # VoxelHashMap
+        if self.render_voxel_grid and self.global_view:
+            self.voxel_map.clear()
+            self.voxel_map.voxel_size = self.voxel_size
+            voxels = target_map.get_voxels()
+            for voxel in voxels:
+                self.voxel_map.add_voxel(self.o3d.geometry.Voxel(voxel, LIGHT_GRAY))
+        else:
+            self.voxel_map.clear()
+
         # Update always a list with all the trajectories
         new_frame = self.o3d.geometry.TriangleMesh.create_sphere(SPHERE_SIZE)
         new_frame.paint_uniform_color(BLUE)
@@ -237,6 +267,7 @@ def _update_geometries(self, source, keypoints, target, pose):
         self.vis.update_geometry(self.keypoints)
         self.vis.update_geometry(self.source)
         self.vis.update_geometry(self.target)
+        self.vis.update_geometry(self.voxel_map)
         if self.reset_bounding_box:
             self.vis.reset_view_point(True)
             self.reset_bounding_box = False