Stackoverflow https://stackoverflow.com/questions/77327482

partial_answer.py

import math

import numpy as np
import open3d as o3d
import pandas as pd
origin = o3d.geometry.TriangleMesh.create_coordinate_frame(size=20, origin=[0, 0, 0])
# mesh = o3d.io.read_triangle_mesh("test.obj")
csv_list = pd.read_csv("test.csv", header=0)

cameras = []

for (row, camera_data) in csv_list.iterrows():
    x, y, alt, heading, pitch, roll = (camera_data['x'], camera_data['y'], camera_data['alt'],
                                       camera_data['heading'], camera_data['pitch'], camera_data['roll'])

    # Either use extrinsic = E= [R t] as per x, y, alt, heading,
    # pitch, roll or just create camera with identity matrix and do rotation and translation later.
    camera = o3d.geometry.LineSet.create_camera_visualization(
        intrinsic=o3d.camera.PinholeCameraIntrinsic(
            o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault
        ),
        extrinsic=np.eye(4),
        scale=1
    )
    # https://en.wikipedia.org/wiki/Rotation_matrix#General_3D_rotations
    rotation = o3d.geometry.get_rotation_matrix_from_zxy(
        [math.radians(heading), math.radians(pitch), math.radians(roll)]
    )
    camera = camera.rotate(rotation)
    camera.translate([x, y, alt])
    cameras.append(camera)

geometries = [origin] + cameras
o3d.visualization.draw_geometries(geometries)