input_frame.get_data_as_image('depth'),
input_frame.get_data_as_image('color'),
raycast_frame.get_data_as_image('depth'),
raycast_frame.get_data_as_image('color'), pcd, frustum))
self.idx += 1
self.is_done = self.is_done | (self.idx >= n_files)
time.sleep(0.5)
if __name__ == '__main__':
parser = ConfigParser()
parser.add(
'--config',
is_config_file=True,
help='YAML config file path. Please refer to default_config.yml as a '
'reference. It overrides the default config file, but will be '
'overridden by other command line inputs.')
parser.add(
'--default_dataset',
help='Default dataset is used when config file is not provided. '
'Default dataset may be selected from the following options: '
'[lounge, bedroom, jack_jack]',
default='lounge')
parser.add('--path_npz',
help='path to the npz file that stores voxel block grid.',
default='output.npz')
config = parser.get_config()
if config.path_dataset == '':
config = get_default_dataset(config)
config.depth_scale, config.depth_max)
dt = time.time() - start
print('Finished integrating {} frames in {} seconds'.format(
n_files, dt))
print('Saving to {}...'.format(config.path_npz))
vbg.save(config.path_npz)
print('Saving finished')
return vbg
if __name__ == '__main__':
parser = ConfigParser()
parser.add(
'--config',
is_config_file=True,
help='YAML config file path. Please refer to default_config.yml as a '
'reference. It overrides the default config file, but will be '
'overridden by other command line inputs.')
parser.add('--integrate_color', action='store_true')
parser.add('--path_trajectory',
help='path to the trajectory .log or .json file.')
parser.add('--path_npz',
help='path to the npz file that stores voxel block grid.',
default='vbg.npz')
config = parser.get_config()
if config.path_dataset == '':
config.path_dataset = get_default_testdata()
config.path_trajectory = os.path.join(config.path_dataset,
'trajectory.log')
model.update_frame_pose(i, T_frame_to_model)
model.integrate(input_frame, config.depth_scale, config.depth_max)
model.synthesize_model_frame(raycast_frame, config.depth_scale,
config.depth_min, config.depth_max, False)
stop = time.time()
print('{:04d}/{:04d} slam takes {:.4}s'.format(i, n_files,
stop - start))
return model.voxel_grid, poses
if __name__ == '__main__':
parser = ConfigParser()
parser.add(
'--config',
is_config_file=True,
help='YAML config file path. Please refer to default_config.yml as a '
'reference. It overrides the default config file, but will be '
'overridden by other command line inputs.')
config = parser.get_config()
depth_file_names, color_file_names = load_image_file_names(config)
intrinsic = load_intrinsic(config)
volume, poses = slam(depth_file_names, color_file_names, intrinsic, config)
save_poses('output.log', poses)
save_poses('output.json', poses)
mesh = extract_trianglemesh(volume, config, 'output.ply')
o3d.visualization.draw([mesh])
model.update_frame_pose(i, T_frame_to_model)
model.integrate(input_frame, config.depth_scale, config.depth_max)
model.synthesize_model_frame(raycast_frame, config.depth_scale,
config.depth_min, config.depth_max, False)
stop = time.time()
print('{:04d}/{:04d} slam takes {:.4}s'.format(i, n_files,
stop - start))
return model.voxel_grid, poses
if __name__ == '__main__':
parser = ConfigParser()
parser.add(
'--config',
is_config_file=True,
help='YAML config file path. Please refer to default_config.yml as a '
'reference. It overrides the default config file, but will be '
'overridden by other command line inputs.')
parser.add('--path_npz',
help='path to the npz file that stores voxel block grid.',
default='output.npz')
config = parser.get_config()
depth_file_names, color_file_names = load_rgbd_file_names(config)
intrinsic = load_intrinsic(config)
if not os.path.exists(config.path_npz):
volume, poses = slam(depth_file_names, color_file_names, intrinsic,
config)
print('Saving to {}...'.format(config.path_npz))
volume.save(config.path_npz)