def _on_close(self):
if self.is_started:
print('Saving model to {}...'.format(config.path_npz))
self.model.voxel_grid.save(config.path_npz)
print('Finished.')
mesh_fname = '.'.join(config.path_npz.split('.')[:-1]) + '.ply'
print('Extracting and saving mesh to {}...'.format(mesh_fname))
mesh = extract_trianglemesh(self.model.voxel_grid, config,
mesh_fname)
print('Finished.')
log_fname = '.'.join(config.path_npz.split('.')[:-1]) + '.log'
print('Saving trajectory to {}...'.format(log_fname))
save_poses(log_fname, self.poses)
print('Finished.')
return True
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])