test model

    bpy.ops.import_scene.obj(filepath=fpath, use_smooth_groups=False)

    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]

    obj = bpy.data.objects[obj_name]

    for mat in obj.material_slots:

    for mat in obj.material_slots:

        mat.material.use_nodes = True

        mat.material.use_nodes = True

# 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

# 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

# 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])