(self, intrinsic, extrinsic, scale=1, color=None)
| 110 | # plt.show() |
| 111 | |
| 112 | def draw_camera(self, intrinsic, extrinsic, scale=1, color=None): |
| 113 | # intrinsics |
| 114 | K = intrinsic |
| 115 | |
| 116 | # convert extrinsics matrix to rotation and translation matrix |
| 117 | extrinsic = np.linalg.inv(extrinsic) |
| 118 | R = extrinsic[0:3,0:3] |
| 119 | t = extrinsic[0:3,3] |
| 120 | |
| 121 | width = self.__width |
| 122 | height = self.__height |
| 123 | |
| 124 | geometries = draw_camera(K, R, t, width, height, scale, color) |
| 125 | for g in geometries: |
| 126 | self.add_geometry(g) |
| 127 | |
| 128 | def draw_points3D(self, points3D, color=None): |
| 129 | geometries = draw_points3D(points3D, color) |
nothing calls this directly
no test coverage detected