Using the Python viewer and the Replica dataset with the sorted faces

[emilia-szymanska]

Hello!
My goal is to find the simplest solution possible to just manually walk around a Replica apartment and take "screenshots" of what I see. For that purpose, I modified the examples/viewer.py so that when I press a corresponding button, I save the frame (either depth, semantic or RGB). However, I would like to have the nice, high quality scenes, not the ones made from scans. I browsed through the issues (like #709 or #1256), I have the sorted faces downloaded and placed in the habitat directory. I tried pointing at both mesh.ply and habitat/mesh_semantic.ply, but apparently it is not the solution, since it is not working. I do not have CUDA, so I tried to stick with the viewer, which works without it. Can I somehow modify the viewer to achieve my goal?