open3d显示rope3d标注内容

open3d是我发现比较好用且功能全面的3D库

下面演示显示rope3d的标注内容,其他调用的库有pandaset geometry等

#! /usr/bin/env python3
# -*-coding:utf-8-*-
import pcl
import open3d as o3d
from pandaset import geometry
import numpy as np
from pyquaternion import Quaternion
import pandas
from pathlib import Path
import json
from math import tanh
import os
from show_2d3d_box import read_kitti_ext, load_detect_data, Data 
import math

if __name__ == "__main__":
    folder="/Rope3D/validation"
    extrinsics_dir = os.path.join(folder, 'extrinsics')
    name="148709_sj8fas2e152d20211124air_420_1637216131_1637218737_1_obstacle"
    extrinsic_file = os.path.join(extrinsics_dir, '%s.yaml' % (name))
    world2camera = read_kitti_ext(extrinsic_file).reshape((4, 4))
    world2camera=np.matrix(world2camera)
    camera2world = np.linalg.inv(world2camera).reshape(4, 4)
    label_dir = os.path.join(folder, 'lab