我们使用Open3D库中的read_image函数加载深度图像,然后使用PointCloud类的create_from_depth_image方法将深度图像转换为点云数据。该方法需要相机内参(宽度、高度、焦距和主点坐标),以及深度比例因子和最大深度值。另一方面,RGBD图像和点云之间的转换可以通过将RGBD图像的每个像素转换为点云数据来实现。RGBD图像包含彩色和...
pcd = o3d.geometry.PointCloud.create_from_rgbd_image( rgbd_image, o3d.camera.PinholeCameraIntrinsic( o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)) 其中 PinholeCameraIntrinsicParameters.PrimeSenseDefault 是指的默认的相机参数。 KD 树 KD 树用以在点云中快速获取邻近点。构造 KD 树 pcd_...
有了深度图像和相机参数后,我们可以使用PointCloud.create_from_depth_image函数来创建点云对象。这个函数会根据深度图像中的每个像素值,结合相机参数,计算出对应的3D点云坐标。 python # 将深度图像转换为点云 pcd = o3d.geometry.PointCloud.create_from_depth_image( depth_image, intrinsics, depth_scale=depth...
解决:不要外参,函数默认已给pointcloud = o3d.geometry.PointCloud().create_from_rgbd_image(rgbdImage, intrinsic=intrinsics)#翻转点云pointcloud.transform([[1, 0, 0, 0], [0,-1, 0, 0], [0, 0,-1, 0], [0, 0, 0,1]])#将pcd点云保存o3d.io.write_point_cloud('./data/pcdAdirondack...
pcd = o3d.t.geometry.PointCloud.create_from_depth_image(depth, intrinsic, depth_scale=4000.0, depth_max=0.8) point_cloud_array = pcd.point.positions.numpy() pcd1 = o3d.geometry.PointCloud() pcd1.points = o3d.utility.Vector3dVector(point_cloud_array) ...
# Create point cloud from depth and color image depth_intrin=depth_frame.profile.as_video_stream_profile().intrinsics color_intrin=color_frame.profile.as_video_stream_profile().intrinsics depth_to_color_extrin=depth_frame.profile.get_extrinsics_to(color_frame.profile) ...
However, would I take an irregularly spaced point cloud, and create a grayscale depth map from it, while using the camera intrinsic? I tried the code in issue #1073, but I get a heat map, not a grayscale, plus I appear to lose some corners, depending on the imported point cloud, ...
(rgbd_image.depth)plt.show()pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd_image, o3d.camera.PinholeCameraIntrinsic(o3d.camera.PinholeCameraIntrinsicParameters.Prim eSenseDefault))print("第%d张点云数据:"%i, pcd)pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -...
rgbd_image_target = o3d.geometry.RGBDImage.create_from_color_and_depth(color_raw_target, depth_raw_target) target = o3d.geometry.PointCloud.create_from_rgbd_image( rgbd_image_target,intrinsic) threshold = 1.0 #移动范围的阀值 trans_init = np.asarray([[1,0,0,0], # 4x4identity matrix,...
I'm would like to capture the depth image from the point cloud. I'm using the following code to create the camera. I have ofcourse converted the cameramatrix in an open3d renderer compatible format.. import copy import numpy import open3d as o3d from open3d.open3d_pybind import camera ...