'''
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)