# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
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# The MIT License (MIT)
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# Copyright (c) 2018-2021 www.open3d.org
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# of this software and associated documentation files (the "Software"), to deal
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# ----------------------------------------------------------------------------
import numpy as np
import open3d as o3d
if __name__ == "__main__":
print("Testing camera in open3d ...")
intrinsic = o3d.camera.PinholeCameraIntrinsic(
o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)
print(intrinsic.intrinsic_matrix)
print(o3d.camera.PinholeCameraIntrinsic())
x = o3d.camera.PinholeCameraIntrinsic(640, 480, 525, 525, 320, 240)
print(x)
print(x.intrinsic_matrix)
o3d.io.write_pinhole_camera_intrinsic("test.json", x)
y = o3d.io.read_pinhole_camera_intrinsic("test.json")
print(y)
print(np.asarray(y.intrinsic_matrix))
print("Read a trajectory and combine all the RGB-D images.")
pcds = []
redwood_rgbd = o3d.data.SampleRedwoodRGBDImages()
trajectory = o3d.io.read_pinhole_camera_trajectory(
redwood_rgbd.trajectory_log_path)
o3d.io.write_pinhole_camera_trajectory("test.json", trajectory)
print(trajectory)
print(trajectory.parameters[0].extrinsic)
print(np.asarray(trajectory.parameters[0].extrinsic))
for i in range(5):
im1 = o3d.io.read_image(redwood_rgbd.depth_paths[i])
im2 = o3d.io.read_image(redwood_rgbd.color_paths[i])
im = o3d.geometry.RGBDImage.create_from_color_and_depth(
im2, im1, 1000.0, 5.0, False)
pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
im, trajectory.parameters[i].intrinsic,
trajectory.parameters[i].extrinsic)
pcds.append(pcd)
o3d.visualization.draw_geometries(pcds)