(extrinsics, points, colors = None)
| 31 | vis.run() |
| 32 | |
| 33 | def visualize(extrinsics, points, colors = None): |
| 34 | intrinsic = o3d.camera.PinholeCameraIntrinsic() |
| 35 | intrinsic.set_intrinsics( |
| 36 | width=640, |
| 37 | height=480, |
| 38 | fx=525.0, |
| 39 | fy=525.0, |
| 40 | cx=320.0, |
| 41 | cy=240.0 |
| 42 | ) |
| 43 | geometries = [] |
| 44 | vis = o3d.visualization.Visualizer() |
| 45 | vis.create_window() |
| 46 | vis.get_render_option().point_size = 3.0 |
| 47 | |
| 48 | for extrinsic in extrinsics: |
| 49 | camera_visualization = o3d.geometry.LineSet.create_camera_visualization( |
| 50 | intrinsic, extrinsic, scale=0.02 |
| 51 | ) |
| 52 | num_lines = len(camera_visualization.lines) |
| 53 | camera_visualization.colors = o3d.utility.Vector3dVector( |
| 54 | [[1,0,0]] * num_lines |
| 55 | ) |
| 56 | geometries.append(camera_visualization) |
| 57 | |
| 58 | for geometry in geometries: |
| 59 | vis.add_geometry(geometry) # Add one geometry at a time |
| 60 | pcd = o3d.geometry.PointCloud() |
| 61 | pcd.points = o3d.utility.Vector3dVector(points) |
| 62 | if colors is not None: |
| 63 | pcd.colors = o3d.utility.Vector3dVector(colors) |
| 64 | vis.add_geometry(pcd) |
| 65 | vis.run() |
no outgoing calls
no test coverage detected