Control of viewer

I’m using Open3d to visualize some SLAM results and would like to change the view based on the current ego pose, e.g. essentially following the car/robot.
As far as I can tell there’s no real way to do this.
Am I incorrect?
If not, I’d like to add this as a feature request!

Thanks :slight_smile:

You can by using the .rotate() function on the geometry object and pass the pose matrix to it. You have to use the correct center as well, which should be in the pose matrix. Something like:
pcd.rotate('pose matrix', 'center')

The visualizer also camera settings that let you use a pose matrix and even set camera intrinsic and extrinsic. It’s in the docs!