text: import cupoch as cph
  from trajectory_io import read_trajectory
  import numpy as np
  
  if __name__ == "__main__":
      camera_poses = read_trajectory("../../testdata/rgbd/odometry.log")
      camera_intrinsics = cph.camera.PinholeCameraIntrinsic(
          cph.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)
      volume = cph.integration.UniformTSDFVolume(
          length=4.0,
          resolution=512,
          sdf_trunc=0.04,
          color_type=cph.integration.TSDFVolumeColorType.RGB8,
      )
  
      for i in range(len(camera_poses)):
          print("Integrate {:d}-th image into the volume.".format(i))
          color = cph.io.read_image(
              "../../testdata/rgbd/color/{:05d}.jpg".format(i))
          depth = cph.io.read_image(
              "../../testdata/rgbd/depth/{:05d}.png".format(i))
          rgbd = cph.geometry.RGBDImage.create_from_color_and_depth(
              color, depth, depth_trunc=4.0, convert_rgb_to_intensity=False)
          volume.integrate(
              rgbd,
              camera_intrinsics,
              np.linalg.inv(camera_poses[i].pose),
          )
  
      print("Extract triangle mesh")
      mesh = volume.extract_triangle_mesh()
      mesh.compute_vertex_normals()
      cph.visualization.draw_geometries([mesh])
  
      print("Extract voxel-aligned debugging point cloud")
      voxel_pcd = volume.extract_voxel_point_cloud()
      cph.visualization.draw_geometries([voxel_pcd])
  
      print("Extract voxel-aligned debugging voxel grid")
      voxel_grid = volume.extract_voxel_grid()
      cph.visualization.draw_geometries([voxel_grid])
  
      print("Extract point cloud")
      pcd = volume.extract_point_cloud()
      cph.visualization.draw_geometries([pcd])
  
      print("Raycasting")
      pcd = volume.raycast(camera_intrinsics, np.linalg.inv(camera_poses[0].pose), 0.04)
      cph.visualization.draw_geometries([pcd])