def main():
    flags = read_args()

    if not validate(flags):
        return

    if not flags.frames and not flags.point_clouds and not flags.integrate:
        flags.frames = True
        flags.point_clouds = True
        flags.trajectory = True

    data = read_data(flags)
    geometries = []
    if flags.trajectory:
        geometries += trajectory(flags, data)
    if flags.frames:
        geometries += show_frames(flags, data)
    if flags.point_clouds:
        geometries += point_clouds(flags, data)
    if flags.integrate:
        mesh = integrate(flags, data)
        if flags.mesh_filename is not None:
            o3d.io.write_triangle_mesh(flags.mesh_filename, mesh)
        geometries += [mesh]
    o3d.visualization.draw_geometries(geometries)

if __name__ == "__main__":
    main()