提交scripts

libs/MVS/utils/get_depth.py

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+'''
+获取Mesh的深度图
+
+required:
+    - open3d
+    - numpy
+'''
+
+import open3d as o3d
+import numpy as np
+
+def get_depth(w2c: np.ndarray, intrinsic: o3d.camera.PinholeCameraIntrinsic, render: o3d.visualization.rendering.OffscreenRenderer) -> o3d.geometry.Image:
+    '''
+    获取rgbd图像
+
+    param:
+        mesh: 需要渲染的mesh
+        w2c: 世界坐标系到相机坐标系的变换矩阵
+        K: 相机内参
+        render: 渲染器
+    '''
+    render.setup_camera(intrinsic, w2c)
+
+    depth = render.render_to_depth_image(z_in_view_space=True)
+
+    return np.asarray(depth)