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- def trajectory(flags, data):
- """
- Returns a set of lines connecting each camera poses world frame position.
- returns: [open3d.geometry.LineSet]
- """
- line_sets = []
- previous_pose = None
- for i, T_WC in enumerate(data['poses']):
- if previous_pose is not None:
- points = o3d.utility.Vector3dVector([previous_pose[:3, 3], T_WC[:3, 3]])
- lines = o3d.utility.Vector2iVector([[0, 1]])
- line = o3d.geometry.LineSet(points=points, lines=lines)
- line_sets.append(line)
- previous_pose = T_WC
- return line_sets
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