(extrinsics)
| 2 | import numpy as np |
| 3 | |
| 4 | def visualize_camera(extrinsics): |
| 5 | intrinsic = o3d.camera.PinholeCameraIntrinsic() |
| 6 | intrinsic.set_intrinsics( |
| 7 | width=640, |
| 8 | height=480, |
| 9 | fx=525.0, |
| 10 | fy=525.0, |
| 11 | cx=320.0, |
| 12 | cy=240.0 |
| 13 | ) |
| 14 | geometries = [] |
| 15 | |
| 16 | vis = o3d.visualization.Visualizer() |
| 17 | vis.create_window() |
| 18 | |
| 19 | for extrinsic in extrinsics: |
| 20 | camera_visualization = o3d.geometry.LineSet.create_camera_visualization( |
| 21 | intrinsic, extrinsic, scale=0.02 |
| 22 | ) |
| 23 | num_lines = len(camera_visualization.lines) |
| 24 | camera_visualization.colors = o3d.utility.Vector3dVector( |
| 25 | [[1,0,0]] * num_lines |
| 26 | ) |
| 27 | geometries.append(camera_visualization) |
| 28 | |
| 29 | for geometry in geometries: |
| 30 | vis.add_geometry(geometry) # Add one geometry at a time |
| 31 | vis.run() |
| 32 | |
| 33 | def visualize(extrinsics, points, colors = None): |
| 34 | intrinsic = o3d.camera.PinholeCameraIntrinsic() |
no outgoing calls
no test coverage detected