Camera

camera_trajectory.py

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26
27import numpy as np
28import open3d as o3d
29
30if __name__ == "__main__":
31
32    print("Testing camera in open3d ...")
33    intrinsic = o3d.camera.PinholeCameraIntrinsic(
34        o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)
35    print(intrinsic.intrinsic_matrix)
36    print(o3d.camera.PinholeCameraIntrinsic())
37    x = o3d.camera.PinholeCameraIntrinsic(640, 480, 525, 525, 320, 240)
38    print(x)
39    print(x.intrinsic_matrix)
40    o3d.io.write_pinhole_camera_intrinsic("test.json", x)
41    y = o3d.io.read_pinhole_camera_intrinsic("test.json")
42    print(y)
43    print(np.asarray(y.intrinsic_matrix))
44
45    print("Read a trajectory and combine all the RGB-D images.")
46    pcds = []
47    redwood_rgbd = o3d.data.SampleRedwoodRGBDImages()
48    trajectory = o3d.io.read_pinhole_camera_trajectory(
49        redwood_rgbd.trajectory_log_path)
50    o3d.io.write_pinhole_camera_trajectory("test.json", trajectory)
51    print(trajectory)
52    print(trajectory.parameters[0].extrinsic)
53    print(np.asarray(trajectory.parameters[0].extrinsic))
54    for i in range(5):
55        im1 = o3d.io.read_image(redwood_rgbd.depth_paths[i])
56        im2 = o3d.io.read_image(redwood_rgbd.color_paths[i])
57        im = o3d.geometry.RGBDImage.create_from_color_and_depth(
58            im2, im1, 1000.0, 5.0, False)
59        pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
60            im, trajectory.parameters[i].intrinsic,
61            trajectory.parameters[i].extrinsic)
62        pcds.append(pcd)
63    o3d.visualization.draw_geometries(pcds)