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