Camera#
camera_trajectory.py#
1# ----------------------------------------------------------------------------
2# - Open3D: www.open3d.org -
3# ----------------------------------------------------------------------------
4# Copyright (c) 2018-2023 www.open3d.org
5# SPDX-License-Identifier: MIT
6# ----------------------------------------------------------------------------
7
8import numpy as np
9import open3d as o3d
10
11if __name__ == "__main__":
12
13 print("Testing camera in open3d ...")
14 intrinsic = o3d.camera.PinholeCameraIntrinsic(
15 o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)
16 print(intrinsic.intrinsic_matrix)
17 print(o3d.camera.PinholeCameraIntrinsic())
18 x = o3d.camera.PinholeCameraIntrinsic(640, 480, 525, 525, 320, 240)
19 print(x)
20 print(x.intrinsic_matrix)
21 o3d.io.write_pinhole_camera_intrinsic("test.json", x)
22 y = o3d.io.read_pinhole_camera_intrinsic("test.json")
23 print(y)
24 print(np.asarray(y.intrinsic_matrix))
25
26 print("Read a trajectory and combine all the RGB-D images.")
27 pcds = []
28 redwood_rgbd = o3d.data.SampleRedwoodRGBDImages()
29 trajectory = o3d.io.read_pinhole_camera_trajectory(
30 redwood_rgbd.trajectory_log_path)
31 o3d.io.write_pinhole_camera_trajectory("test.json", trajectory)
32 print(trajectory)
33 print(trajectory.parameters[0].extrinsic)
34 print(np.asarray(trajectory.parameters[0].extrinsic))
35 for i in range(5):
36 im1 = o3d.io.read_image(redwood_rgbd.depth_paths[i])
37 im2 = o3d.io.read_image(redwood_rgbd.color_paths[i])
38 im = o3d.geometry.RGBDImage.create_from_color_and_depth(
39 im2, im1, 1000.0, 5.0, False)
40 pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
41 im, trajectory.parameters[i].intrinsic,
42 trajectory.parameters[i].extrinsic)
43 pcds.append(pcd)
44 o3d.visualization.draw_geometries(pcds)