nans in the retrieved extrinsic and values flipped from what it was set to

[mbspng]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

My Question

When retrieving the extrinsic from the view control, after setting it, why do I get nans in the extrinsic and why is it flipped?

import numpy as np
import open3d
from open3d.visualization import ViewControl


np.set_printoptions(precision=2, suppress=True)


def main():
    vis = open3d.visualization.Visualizer()
    vis.create_window(visible=False)
    view_control: ViewControl = vis.get_view_control()

    vis.update_renderer()
    vis.poll_events()

    target = np.random.rand(3)

    extrinsics = construct_extrinsics(target)

    camera_parameters = view_control.convert_to_pinhole_camera_parameters()

    extrinsics_out = camera_parameters.extrinsic
    # no nans
    print(extrinsics_out)

    vis.update_renderer()
    vis.poll_events()

    camera_parameters.extrinsic = extrinsics
    result = view_control.convert_from_pinhole_camera_parameters(camera_parameters, allow_arbitrary=True)

    vis.update_renderer()
    vis.poll_events()

    assert result

    # no nans
    print(extrinsics)

    camera_parameters = view_control.convert_to_pinhole_camera_parameters()

    extrinsics_out = camera_parameters.extrinsic
    # nans
    print(extrinsics_out)


def construct_extrinsics(target: np.ndarray) -> np.ndarray:
    eye = np.zeros(3)
    forward = target - eye

    assert np.allclose(np.linalg.norm(forward), np.linalg.norm(target))

    forward /= np.linalg.norm(forward)

    up = np.array([0.0, 1.0, 0.0])
    right = np.cross(up, forward)
    up = np.cross(right, forward)

    up /= np.linalg.norm(up)
    right /= np.linalg.norm(right)

    assert up @ right < 1e-6
    assert up @ forward < 1e-6
    assert right @ forward < 1e-6

    rotation = np.array([right, up, forward])
    extrinsics = np.eye(4)
    extrinsics[:3, :3] = rotation
    extrinsics[:3, 3] = -(rotation @ eye)

    return extrinsics


if __name__ == "__main__":
    main()

# default
[[ 1.  0.  0. -0.]
 [-0. -1. -0.  0.]
 [-0. -0. -1.  0.]
 [ 0.  0.  0.  1.]]

# my input
[[ 0.49  0.   -0.87 -0.  ]
 [ 0.83 -0.31  0.47 -0.  ]
 [ 0.27  0.95  0.15 -0.  ]
 [ 0.    0.    0.    1.  ]]

# the output (with nans and flipped entries)
[[-0.49  0.    0.87   nan]
 [ 0.83 -0.31  0.47   nan]
 [ 0.27  0.95  0.15   nan]
 [ 0.    0.    0.    1.  ]]

open3d v0.18.0