How to convert `open3d.cuda.pybind.geometry.trianglemesh` `open3d.visualization.rendering.TriangleMeshModel`?

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My Question

Hi, I am trying to visualize a camera pose in 3D pointcloud in Open3D by using open3d.visualization.O3DVisualizer and import open3d.visualization.gui . A camera pose is created by using this function,

def draw_camera(K, R, t, w, h,
                scale=1, color=[0.8, 0.2, 0.8]):
    """Create axis, plane and pyramed geometries in Open3D format.
    :param K: calibration matrix (camera intrinsics)
    :param R: rotation matrix
    :param t: translation
    :param w: image width
    :param h: image height
    :param scale: camera model scale
    :param color: color of the image plane and pyramid lines
    :return: camera model geometries (axis, plane and pyramid)
    """

    # intrinsics
    K = K.copy() / scale
    Kinv = np.linalg.inv(K)

    # 4x4 transformation
    T = np.column_stack((R, t))
    T = np.vstack((T, (0, 0, 0, 1)))

    # axis
    axis = open3d.geometry.TriangleMesh.create_coordinate_frame(
        size=0.5 * scale)
    axis.transform(T)

    # points in pixel
    points_pixel = [
        [0, 0, 0],
        [0, 0, 1],
        [w, 0, 1],
        [0, h, 1],
        [w, h, 1],
    ]

    # pixel to camera coordinate system
    points = [Kinv @ p for p in points_pixel]

    # image plane
    width = abs(points[1][0]) + abs(points[3][0])
    height = abs(points[1][1]) + abs(points[3][1])
    plane = open3d.geometry.TriangleMesh.create_box(width, height, depth=1e-6)
    plane.paint_uniform_color(color)
    plane.translate([points[1][0], points[1][1], scale])
    plane.transform(T)

    # pyramid
    points_in_world = [(R @ p + t) for p in points]
    lines = [
        [0, 1],
        [0, 2],
        [0, 3],
        [0, 4],
    ]
    colors = [color for i in range(len(lines))]
    line_set = open3d.geometry.LineSet(
        points=open3d.utility.Vector3dVector(points_in_world),
        lines=open3d.utility.Vector2iVector(lines))
    line_set.colors = open3d.utility.Vector3dVector(colors)

    # return as list in Open3D format
    return [axis, plane, line_set]

I am trying to visualize the trianglemesh from this function in

app = gui.Application.instance
        app.initialize()

        points = self.create_point_cloud()

        vis = open3d.visualization.O3DVisualizer("Environment PointCloud", 1024, 768)
        vis.show_settings = True
        vis.add_geometry("Points", points)

        # camera Poses
        ** create frames

       # camera_poses is a list of open3d.cuda.pybind.geometry.trianglemesh objects.
        for fidx, camera_pose in enumerate(camera_poses):
            vis.add_geometry(name="camera{}".format(fidx),
                             model=camera_pose,
                             group="Camera Poses",
                             time=0.0,
                             is_visible=True)

But I am getting this error,

TypeError: add_geometry(): incompatible function arguments. The following argument types are supported:
    1. (self: open3d.cuda.pybind.visualization.O3DVisualizer, name: str, geometry: open3d.cuda.pybind.geometry.Geometry3D, material: open3d.cuda.pybind.visualization.rendering.MaterialRecord = None, group: str = '', time: float = 0.0, is_visible: bool = True) -> None
    2. (self: open3d.cuda.pybind.visualization.O3DVisualizer, name: str, geometry: open3d.cuda.pybind.t.geometry.Geometry, material: open3d.cuda.pybind.visualization.rendering.MaterialRecord = None, group: str = '', time: float = 0.0, is_visible: bool = True) -> None
    3. (self: open3d.cuda.pybind.visualization.O3DVisualizer, name: str, model: open3d.cuda.pybind.visualization.rendering.TriangleMeshModel, material: open3d.cuda.pybind.visualization.rendering.MaterialRecord = None, group: str = '', time: float = 0.0, is_visible: bool = True) -> None
    4. (self: object, arg0: dict) -> None

Invoked with: <open3d.cuda.pybind.visualization.O3DVisualizer object at 0x7f87b5d7d230>; kwargs: name='frame0', model=TriangleMesh with 1134 points and 2240 triangles., group='frames', time=0.0, is_visible=True

Previously, I was using open3d.visualization.Visualizer api to visualize this trianglemesh model by using add_geometry method and it is okay but if I switch open3d.visualization.O3DVisualizer, this error happens.

The camera pose trianglemesh that I want to visualize is something like this: pose

Thank you for the help in advance!

isl-org / Open3D

How to convert `open3d.cuda.pybind.geometry.trianglemesh` `open3d.visualization.rendering.TriangleMeshModel`? #6388

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My Question