# Camera¶

## camera_trajectory.py¶

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 # ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # The MIT License (MIT) # # Copyright (c) 2018-2021 www.open3d.org # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in # all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS # IN THE SOFTWARE. # ---------------------------------------------------------------------------- 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)