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')
if config.integrate_color:
depth_file_names, color_file_names = load_rgbd_file_names(config)
else:
depth_file_names = load_depth_file_names(config)
color_file_names = None
intrinsic = load_intrinsic(config)
extrinsics = load_extrinsics(config.path_trajectory, config)
vbg = integrate(depth_file_names, color_file_names, intrinsic, extrinsics,
config)
mesh = vbg.extract_triangle_mesh()
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 = get_default_testdata(config)
if config.integrate_color:
depth_file_names, color_file_names = load_rgbd_file_names(config)
else:
depth_file_names = load_depth_file_names(config)
color_file_names = None
depth_intrinsic = load_intrinsic(config)
color_intrinsic = load_intrinsic(config, 'color')
extrinsics = load_extrinsics(config.path_trajectory, config)
vbg = integrate(depth_file_names, color_file_names, depth_intrinsic,
color_intrinsic, extrinsics, config)
pcd = vbg.extract_point_cloud()