update coordinate convert

modules/data.py

@@ -67,7 +67,7 @@ def __len__(self) -> int:
         return len(self.rgb_list)
 
     def __getitem__(self, idx) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
-        raw_rgb = cv2.imread(str(self.rgb_list[idx]), cv2.IMREAD_UNCHANGED)
+        raw_rgb = cv2.imread(str(self.rgb_list[idx]), cv2.IMREAD_COLOR).astype(np.uint8)
         raw_depth = None if not self.depth_list else np.load(self.depth_list[idx])
         # pack data
         rgb = self.preprocess(raw_rgb)

modules/fusion.py

@@ -100,18 +100,10 @@ def fusion(
 
 def extract_mesh(
     volume:o3d.pipelines.integration.ScalableTSDFVolume, 
-    save: Optional[Union[str, Path]] = None,
-    viz: Optional[bool] = False
 ) -> o3d.geometry.TriangleMesh:
     print('[TSDF] extracting mesh')
     mesh = volume.extract_triangle_mesh()
     # mesh.compute_vertex_normals()
-
-    if viz:
-        o3d.visualization.draw_geometries([mesh])
-    if save is not None:
-        o3d.io.write_triangle_mesh(str(save), mesh)
-
     return mesh
 
 
@@ -189,7 +181,7 @@ def pipeline(
         colored=colored
     )
 
-    mesh = extract_mesh(volume, save=mesh_save, viz=viz)
+    mesh = extract_mesh(volume)
 
     # convert to opengl
     if cv_to_gl:
@@ -201,4 +193,10 @@ def pipeline(
         ])
         mesh.transform(convert_cv_to_gl)
 
+    if mesh_save:
+        o3d.io.write_triangle_mesh(str(mesh_save), mesh)
+
+    if viz:
+        o3d.visualization.draw_geometries([mesh])
+
     return mesh

scripts/test_seq.py

@@ -23,7 +23,7 @@
 
     parser.add_argument("--viz", action='store_true', help="visualize", default=False)
     parser.add_argument("--overwrite", action='store_true', help="overwrite existing files", default=False)
-    parser.add_argument("--fusion", action='store_true', help="run rgbd fusion", default=True)
+    parser.add_argument("--fusion", action='store_true', help="run rgbd fusion", default=False)
 
     parser.add_argument("--voxel-length", type=float, help="voxel length for fusion", default=0.05)
     parser.add_argument("--global-ba-frontend", type=int, help="frequency to run global ba on frontend", default=0)

scripts/test_video.py

@@ -24,7 +24,7 @@
 
     parser.add_argument("--viz", action='store_true', help="visualize", default=False)
     parser.add_argument("--overwrite", action='store_true', help="overwrite existing files", default=False)
-    parser.add_argument("--fusion", action='store_true', help="run rgbd fusion", default=True)
+    parser.add_argument("--fusion", action='store_true', help="run rgbd fusion", default=False)
 
     parser.add_argument("--voxel-length", type=float, help="voxel length for fusion", default=0.05)
     parser.add_argument("--global-ba-frontend", type=int, help="frequency to run global ba on frontend", default=0)