def integrate(flags, data):
    """
    Integrates collected RGB-D maps using the Open3D integration pipeline.

    flags: command line arguments
    data: dict with keys ['intrinsics', 'poses']
    Returns: open3d.geometry.TriangleMesh
    """
    volume = o3d.pipelines.integration.ScalableTSDFVolume(
            voxel_length=flags.voxel_size,
            sdf_trunc=0.05,
            color_type=o3d.pipelines.integration.TSDFVolumeColorType.RGB8)

    intrinsics = get_intrinsics(data['intrinsics'])

    rgb_path = os.path.join(flags.path, 'rgb.mp4')
    video = skvideo.io.vreader(rgb_path)
    for i, (T_WC, rgb) in enumerate(zip(data['poses'], video)):
        print(f"Integrating frame {i:06}", end='\r')
        depth_path = data['depth_frames'][i]
        depth = load_depth(depth_path)
        rgb = Image.fromarray(rgb)
        rgb = rgb.resize((DEPTH_WIDTH, DEPTH_HEIGHT))
        rgb = np.array(rgb)
        rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(
            o3d.geometry.Image(rgb), depth,
            depth_scale=1.0, depth_trunc=MAX_DEPTH, convert_rgb_to_intensity=False)

        volume.integrate(rgbd, intrinsics, np.linalg.inv(T_WC))
    mesh = volume.extract_triangle_mesh()
    mesh.compute_vertex_normals()
    return mesh