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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------
import open3d as o3d
import numpy as np
import matplotlib.pyplot as plt
if __name__ == '__main__':
device = o3d.core.Device('CPU:0')
tum_data = o3d.data.SampleTUMRGBDImage()
depth = o3d.t.io.read_image(tum_data.depth_path).to(device)
color = o3d.t.io.read_image(tum_data.color_path).to(device)
intrinsic = o3d.core.Tensor([[535.4, 0, 320.1], [0, 539.2, 247.6],
[0, 0, 1]])
rgbd = o3d.t.geometry.RGBDImage(color, depth)
pcd = o3d.t.geometry.PointCloud.create_from_rgbd_image(rgbd,
intrinsic,
depth_scale=5000.0,
depth_max=10.0)
o3d.visualization.draw([pcd])
rgbd_reproj = pcd.project_to_rgbd_image(640,
480,
intrinsic,
depth_scale=5000.0,
depth_max=10.0)
fig, axs = plt.subplots(1, 2)
axs[0].imshow(np.asarray(rgbd_reproj.color.to_legacy()))
axs[1].imshow(np.asarray(rgbd_reproj.depth.to_legacy()))
plt.show()
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