[Question] Is there a way to be able to read the viewpoint field of a PCD file for instantiating a camera in it?

[davidelahoz]

I'm trying to convert some point clouds provided as PCD files to RGBD images using open3d.t.geometry.PointCloud.project_to_rgbd_image method. The idea is to implement something like cloudcompare bubble view mode. However, the origin of the point cloud doesn't match its viewpoint, so its location is required for calculating the extrinsic matrix required by that projection

Is there a way to obtain a camera located at the viewpoint specified in a PCD file?