open3d显示RGBD点云(rope3d数据集)

 rope3d中同时有深度图,因此 可以创建rgbd图像点云

借助open3d库

需要确定相机内参和外参

注意统一坐标系 例如都显示在world坐标系

#! /usr/bin/env python3
# -*-coding:utf-8-*-
#for reading pcd and json from task3 result files
import pcl
import open3d as o3d
from pandaset import DataSet, geometry
import numpy as np
from pyquaternion import Quaternion
import pandas
from pathlib import Path
import json
from math import tanh
import os
from show_2d3d_box import read_kitti_ext, load_detect_data, Data, read_kitti_cal 
import math

if __name__ == "__main__":
    folder="/Rope3D/validation"
    extrinsics_dir = os.path.join(folder, 'extrinsics')
    name="148709_sj8fas2e152d20211124air_420_1637216131_1637218737_1_obstacle"
    extrinsic_file = os.path.join(extrinsics_dir, '%s.yaml' % (name))
    world2camera = read_kitti_ext(extrinsic_file).reshape((4, 4))
    world2camera=np.matrix(world2camera)
    camera2worl