- Depth camera: Real sense D415
- System: Ubuntu 22.04, 20.04
pip install open3d
pip install pyrealsense2
python collect_pcd.py --mode calibration
Select points with shift
, resulting point cloud will be stored at ./calib.ply
python compute_extrinsic.py
Resulting extrinsic parameter will be saved in ./tf.npz
python collect_pcd.py --mode capture
Resulting point cloud will be stored at ./obj.ply
Adjust offsets
in preprocess.py
python preprocess.py
Resulting point cloud will be stored at ./obj_cropped.ply