added some visualization tools for lidar pointclouds

tools/create_camera_settings.py

@@ -0,0 +1,60 @@
+from configargparse import ArgParser, YAMLConfigFileParser, ArgumentDefaultsRawHelpFormatter
+from sys import exit
+from open3d.geometry import Geometry
+from open3d.visualization import Visualizer
+from open3d.io import write_pinhole_camera_parameters
+from pathlib import Path
+
+
+from util import (
+    load_dataset_from_bag,
+    existing_file,
+)
+
+
+def create_camera_settings(geometry: Geometry, camera_config_output_json_path: Path) -> None:
+    vis = Visualizer()
+    vis.create_window()
+    vis.add_geometry(geometry)
+    vis.run()
+    parameters = vis.get_view_control().convert_to_pinhole_camera_parameters()
+    write_pinhole_camera_parameters(camera_config_output_json_path.as_posix(), parameters)
+    print(f"Written camera config to {camera_config_output_json_path.as_posix()}!")
+    vis.destroy_window()
+
+
+def main() -> int:
+    parser = ArgParser(
+        config_file_parser_class=YAMLConfigFileParser,
+        default_config_files=["create_camera_settings_config.yaml"],
+        formatter_class=ArgumentDefaultsRawHelpFormatter,
+        description="Use an interactive window to move the camera and export the camera view at the moment of closing"
+        " the window into a JSON file",
+    )
+    parser.add_argument("--render-config-file", is_config_file=True, help="yaml config file path")
+    parser.add_argument("--input-bag-path", required=True, type=existing_file, help="path to bag file")
+    parser.add_argument(
+        "--camera-config-output-json-path",
+        default=Path("./saved_camera_settings.json"),
+        type=Path,
+        help="path the camera settings json file should be saved to",
+    )
+    parser.add_argument(
+        "--bag-pointcloud-index",
+        type=int,
+        default=0,
+        help="index of the frame inside the experiment bag that should be displayed in 3d",
+    )
+
+    args = parser.parse_args()
+    print("Creating camera settings!")
+    print("Move the view in the window to the desired camera position" " and then close the window using the ESC key!")
+    dataset = load_dataset_from_bag(args.input_bag_path)
+    open3d_pointcloud = dataset[args.bag_pointcloud_index].to_instance("open3d")
+    create_camera_settings(open3d_pointcloud, args.camera_config_output_json_path)
+
+    return 0
+
+
+if __name__ == "__main__":
+    exit(main())