def run(config):
print("refine rough registration of 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_posegraph_for_refined_scene(ply_file_names, config)
optimize_posegraph_for_refined_scene(config["path_dataset"], config)
path_dataset = config['path_dataset']
n_fragments = len(ply_file_names)
# Save to trajectory
poses = []
pose_graph_fragment = o3d.io.read_pose_graph(
join(path_dataset, config["template_refined_posegraph_optimized"]))
for fragment_id in range(len(pose_graph_fragment.nodes)):
pose_graph_rgbd = o3d.io.read_pose_graph(
join(path_dataset,
config["template_fragment_posegraph_optimized"] % fragment_id))
for frame_id in range(len(pose_graph_rgbd.nodes)):
frame_id_abs = fragment_id * \
config['n_frames_per_fragment'] + frame_id
pose = np.dot(pose_graph_fragment.nodes[fragment_id].pose,
pose_graph_rgbd.nodes[frame_id].pose)
poses.append(pose)
traj_name = join(path_dataset, config["template_global_traj"])
write_poses_to_log(traj_name, poses)
def run(config):
print("refine rough registration of 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_posegraph_for_refined_scene(ply_file_names, config)
optimize_posegraph_for_refined_scene(config["path_dataset"], config)
