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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
import os, sys
import open3d as o3d
import numpy as np
import glob
from config import ConfigParser
from common import load_rgbd_file_names, load_depth_file_names, save_poses, load_intrinsic, load_extrinsics, get_default_dataset
def split_fragments(config):
depth_file_names, color_file_names = load_rgbd_file_names(config)
os.makedirs(os.path.join(config.path_dataset, 'fragments'), exist_ok=True)
frag_id = 0
for i in range(0, len(depth_file_names), config.fragment_size):
start = i
end = min(i + config.fragment_size, len(depth_file_names))
np.savetxt(os.path.join(config.path_dataset, 'fragments',
'fragment_{:03d}_colors.txt'.format(frag_id)),
color_file_names[start:end],
fmt='%s',
delimiter='')
np.savetxt(os.path.join(config.path_dataset, 'fragments',
'fragment_{:03d}_depths.txt'.format(frag_id)),
depth_file_names[start:end],
fmt='%s',
delimiter='')
frag_id += 1
def load_fragments(config):
color_list_fnames = sorted(
glob.glob(os.path.join(config.path_dataset, 'fragments',
'*_colors.txt')))
depth_list_fnames = sorted(
glob.glob(os.path.join(config.path_dataset, 'fragments',
'*_depths.txt')))
color_lists = [
np.loadtxt(color_list_fname, dtype=str)
for color_list_fname in color_list_fnames
]
depth_lists = [
np.loadtxt(depth_list_fname, dtype=str)
for depth_list_fname in depth_list_fnames
]
return depth_lists, color_lists
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, jack_jack]',
default='lounge')
config = parser.get_config()
split_fragments(config)
depth_lists, color_lists = load_fragments(config)
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