/rgbd2pcd

Convert RGBD images to a point cloud and visualize

Primary LanguagePython

Convert RGBD images to a point cloud

Parameters

-c/--color required, str, Input RGB color image
-d/--depth required, str, Input depth map
-i/--intrinsic optional, str, Camera intrinsic parameters (column-major order, 9x1 shape)
-nv/--no_view, optional, Disable point cloud visualization
-o/--output optional, str, Output point cloud file path

Setup environment (Open3D==0.12.0)

pip install -r requirements.txt

Run

python rgbd2pcd.py -c /path/to/file/rgb_image -d /path/to/file/depth_image -i "[fx, 0, 0, 0, fy, 0, cx, cy, 1]"

Where fx, fy represent the focal length, cx, cy represent the principal point.