Implemented converting between cwipc and open3d pointclouds.

cwi-dis · Feb 20, 2024 · 3cb1c9f · 3cb1c9f
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -9,7 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
-- New Python methods (on cwipc objects) `as_numpy_array()` and `as_numpy_matrix()` and corresponding constructors `from_numpy_array()` and `from_numpy_matrix()` to allow easier analysis.
+- New Python methods (on cwipc objects) `as_numpy_array()`, `as_numpy_matrix()`, `as_o3d_pointcloud()` and corresponding constructors `from_numpy_array()`, `from_numpy_matrix()` and `from_o3d_pointcloud()` to allow easier analysis with numpy or open3d.
 - New API call `cwipc_tiledsource_auxiliary_operation` to have a capturer do a special operation, such as mapping 2D points to 3D points.
 - There is a new utility `cwipc_register` to do registration of multiple cameras (replacing the old `cwipc_calibrate`).
 - There is a new capturer `realsense_playback` which reads `.bag` recordings captured earlier. It behaves much more like a camera than the older `realsense_offline`.

diff --git a/cwipc_util b/cwipc_util
+8 −19		python/cwipc/registration/util.py
+24 −2		python/cwipc/util.py
+28 −1		python/test_cwipc_util.py