# Open3D: www.open3d.org

# The MIT License (MIT)

# See license file or visit www.open3d.org for details

# examples/python/misc/sampling.py

import open3d as o3d

import os, sys

sys.path.append("../utility")

from common import *

sys.path.append("../geometry")

from trajectory_io import *

from shutil import copyfile

if __name__ == "__main__":

o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)

path = "[path_to_reconstruction_system_output]"

out_path = "[path_to_sampled_frames_are_located]"

make_clean_folder(out_path)

make_clean_folder(os.path.join(out_path, "depth/"))

make_clean_folder(os.path.join(out_path, "image/"))

make_clean_folder(os.path.join(out_path, "scene/"))

sampling_rate = 30

depth_image_path = get_file_list(os.path.join(path, "depth/"),

extension=".png")

color_image_path = get_file_list(os.path.join(path, "image/"),

extension=".jpg")

pose_graph_global = o3d.io.read_pose_graph(

os.path.join(path, template_global_posegraph_optimized))

n_fragments = len(depth_image_path) // n_frames_per_fragment + 1

pose_graph_fragments = []

for i in range(n_fragments):

pose_graph_fragment = o3d.io.read_pose_graph(

os.path.join(path, template_fragment_posegraph_optimized % i))

pose_graph_fragments.append(pose_graph_fragment)

depth_image_path_new = []

color_image_path_new = []

traj = []

cnt = 0

for i in range(len(depth_image_path)):

if i % sampling_rate == 0:

metadata = [cnt, cnt, len(depth_image_path) // sampling_rate + 1]

print(metadata)

fragment_id = i // n_frames_per_fragment

local_frame_id = i - fragment_id * n_frames_per_fragment

traj.append(

CameraPose(

metadata,

np.dot(

pose_graph_global.nodes[fragment_id].pose,

pose_graph_fragments[fragment_id].nodes[local_frame_id].

pose)))

copyfile(depth_image_path[i], os.path.join(out_path, "depth/", \

os.path.basename(depth_image_path[i])))

copyfile(color_image_path[i], os.path.join(out_path, "image/", \

os.path.basename(color_image_path[i])))

cnt += 1

copyfile(os.path.join(path, "/scene/cropped.ply"),

os.path.join(out_path, "/scene/integrated.ply"))

write_trajectory(traj, os.path.join(out_path, "scene/key.log"))