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  # examples/python/pipelines/rgbd_integration_uniform.py
  
  import open3d as o3d
  import numpy as np
  
  import os, sys
  
  pyexample_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
  test_data_path = os.path.join(os.path.dirname(pyexample_path), 'test_data')
  sys.path.append(pyexample_path)
  
  from geometry.trajectory_io import read_trajectory
  
  if __name__ == "__main__":
      camera_poses = read_trajectory(
          os.path.join(test_data_path, 'RGBD', 'odometry.log'))
      camera_intrinsics = o3d.camera.PinholeCameraIntrinsic(
          o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)
      volume = o3d.pipelines.integration.UniformTSDFVolume(
          length=4.0,
          resolution=512,
          sdf_trunc=0.04,
          color_type=o3d.pipelines.integration.TSDFVolumeColorType.RGB8,
      )
  
      for i in range(len(camera_poses)):
          print("Integrate {:d}-th image into the volume.".format(i))
          color = o3d.io.read_image(
              os.path.join(test_data_path, 'RGBD', 'color',
                           '{:05d}.jpg'.format(i)))
          depth = o3d.io.read_image(
              os.path.join(test_data_path, 'RGBD', 'depth',
                           '{:05d}.png'.format(i)))
  
          rgbd = o3d.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()
      o3d.visualization.draw_geometries([mesh])
  
      print("Extract voxel-aligned debugging point cloud")
      voxel_pcd = volume.extract_voxel_point_cloud()
      o3d.visualization.draw_geometries([voxel_pcd])
  
      print("Extract voxel-aligned debugging voxel grid")
      voxel_grid = volume.extract_voxel_grid()
      o3d.visualization.draw_geometries([voxel_grid])
  
      print("Extract point cloud")
      pcd = volume.extract_point_cloud()
      o3d.visualization.draw_geometries([pcd])
  