def run(config): print("register fragments.") o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug) ply_file_names = get_file_list( join(config["path_dataset"], config["folder_fragment"]), ".ply") make_clean_folder(join(config["path_dataset"], config["folder_scene"])) make_posegraph_for_scene(ply_file_names, config) optimize_posegraph_for_scene(config["path_dataset"], config)
def run(config): clog.debug("making fragments ...") make_clean_folder(join(config["path_dataset"], config["folder_fragment"])) [color_files, depth_files] = get_rgbd_file_lists(config["path_dataset"]) n_files = len(color_files) n_fragments = int(math.ceil(float(n_files) / \ config['n_frames_per_fragment'])) for fragment_id in range(n_fragments): process_single_fragment(fragment_id, color_files, depth_files, n_files, n_fragments, config)
def run(config): print("making fragments from RGBD sequence.") make_clean_folder(join(config["path_dataset"], config["folder_fragment"])) [color_files, depth_files] = get_rgbd_file_lists(config["path_dataset"]) n_files = len(color_files) n_fragments = int(math.ceil(float(n_files) / \ config['n_frames_per_fragment'])) from joblib import Parallel, delayed import multiprocessing import subprocess MAX_THREAD = min(multiprocessing.cpu_count(), n_fragments) Parallel(n_jobs=MAX_THREAD)(delayed(process_single_fragment)( fragment_id, color_files, depth_files, n_files, n_fragments, config) for fragment_id in range(n_fragments))