test model

blender_generate_image_and_depth.py

@@ -99,6 +99,10 @@ for fpath in fpaths:
 
     bpy.ops.import_scene.obj(filepath=fpath, use_smooth_groups=False)
 
+    for o in bpy.data.objects:
+      if o.name!="Camera":
+        obj_name = o.name
+
     obj = bpy.data.objects[obj_name]
     for mat in obj.material_slots:
         mat.material.use_nodes = True

input/test_cube/test_cube.mtl

+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Material
+Ns 323.999994
+Ka 1.000000 1.000000 1.000000
+Kd 0.016913 0.040888 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.0 0.0 0.0
+Ni 1.450000
+d 1.000000
+illum 2

input/test_cube/test_cube.obj

+# Blender v2.80 (sub 75) OBJ File: ''
+# www.blender.org
+mtllib test_cube.mtl
+o test_cube
+v 0.000000 32.726936 -111.355507
+v 0.000000 0.202909 -134.640411
+v 28.284271 16.262016 -88.357544
+v 28.284271 -16.262012 -111.642456
+v -28.284271 16.262012 -88.357544
+v -28.284271 -16.262016 -111.642456
+v 0.000000 -0.202909 -65.359581
+v 0.000000 -32.726936 -88.644493
+vt 0.375000 0.000000
+vt 0.625000 0.000000
+vt 0.625000 0.250000
+vt 0.375000 0.250000
+vt 0.375000 0.250000
+vt 0.625000 0.250000
+vt 0.625000 0.500000
+vt 0.375000 0.500000
+vt 0.625000 0.750000
+vt 0.375000 0.750000
+vt 0.625000 0.750000
+vt 0.625000 1.000000
+vt 0.375000 1.000000
+vt 0.125000 0.500000
+vt 0.375000 0.500000
+vt 0.375000 0.750000
+vt 0.125000 0.750000
+vt 0.625000 0.500000
+vt 0.875000 0.500000
+vt 0.875000 0.750000
+vn -0.0000 0.8131 0.5821
+vn 0.7071 -0.4116 0.5749
+vn -0.7071 -0.4116 0.5749
+vn 0.0000 -0.8131 -0.5821
+vn 0.7071 0.4116 -0.5749
+vn -0.7071 0.4116 -0.5749
+usemtl Material
+s off
+f 1/1/1 5/2/1 7/3/1 3/4/1
+f 4/5/2 3/6/2 7/7/2 8/8/2
+f 8/8/3 7/7/3 5/9/3 6/10/3
+f 6/10/4 2/11/4 4/12/4 8/13/4
+f 2/14/5 1/15/5 3/16/5 4/17/5
+f 6/18/6 5/19/6 1/20/6 2/11/6

open3d_test.py

+# From here: http://www.open3d.org/docs/release/tutorial/Basic/rgbd_images/redwood.html
+# examples/Python/Basic/rgbd_redwood.py
+
+import open3d as o3d
+import matplotlib.pyplot as plt
+import sys
+
+if __name__ == "__main__":
+
+    image_path = "output/test_cube-image.jpeg"
+    depth_path = "output/test_cube-depth-10cm.png"
+
+    try:
+        image_path = sys.argv[1]
+        depth_path = sys.argv[2]
+    except IndexError:
+        pass
+
+    color_raw = o3d.io.read_image(image_path)
+    depth_raw = o3d.io.read_image(depth_path)
+    rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(
+        color_raw, depth_raw)
+    print(rgbd_image)
+
+    plt.subplot(1, 2, 1)
+    plt.title('Grayscale image')
+    plt.imshow(rgbd_image.color)
+    plt.subplot(1, 2, 2)
+    plt.title('Depth image')
+    plt.imshow(rgbd_image.depth)
+    plt.show()
+
+    psd = o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault
+    #pci0 = o3d.camera.PinholeCameraIntrinsic(psd)
+    #pci0 = o3d.camera.PinholeCameraIntrinsic(2592, 1902, 2045, 2045, 1296, 951)
+    fx = fy = 2045
+    pci0 = o3d.camera.PinholeCameraIntrinsic(2592, 1902, fx, fy, 1296, 951)
+
+    pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
+        rgbd_image,
+        pci0)
+    # Flip it, otherwise the pointcloud will be upside down
+    pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
+    o3d.visualization.draw_geometries([pcd])