Create o3d meshes of camera frames
(
self,
camera_frame_size: float = 0.1,
)
| 1976 | ) |
| 1977 | |
| 1978 | def get_camera_frames( |
| 1979 | self, |
| 1980 | camera_frame_size: float = 0.1, |
| 1981 | ) -> T.List[T.List[o3d.geometry.TriangleMesh]]: |
| 1982 | """ |
| 1983 | Create o3d meshes of camera frames |
| 1984 | """ |
| 1985 | all_camera_frames = [] |
| 1986 | for ib in range(self.H_c2w.size(0)): |
| 1987 | cam_frames = [] |
| 1988 | for iq in range(self.H_c2w.size(1)): |
| 1989 | cam_frame = utils.get_o3d_camera_frame( |
| 1990 | self.H_c2w[ib, iq], |
| 1991 | frame_size=camera_frame_size, |
| 1992 | ) |
| 1993 | cam_frames.append(cam_frame) |
| 1994 | all_camera_frames.append(cam_frames) |
| 1995 | return all_camera_frames |
| 1996 | |
| 1997 | def get_camera_trajectory_arrows( |
| 1998 | self, |