open3d.geometry.create_point_cloud_from_depth_image

open3d.geometry.create_point_cloud_from_depth_image(depth, intrinsic, extrinsic=(with default value), depth_scale=1000.0, depth_trunc=1000.0, stride=1)

Factory function to create a pointcloud from a depth image and a camera. Given depth value d at (u, v) image coordinate, the corresponding 3d point is:

• z = d / depth_scale

• x = (u - cx) * z / fx

• y = (v - cy) * z / fy

Parameters

• depth (open3d.geometry.Image) –

• intrinsic (open3d.camera.PinholeCameraIntrinsic) –

• extrinsic (numpy.ndarray[float64[4, 4]], optional) – array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]])

• depth_scale (float, optional, default=1000.0) –

• depth_trunc (float, optional, default=1000.0) –

• stride (int, optional, default=1) –

Returns

open3d.geometry.PointCloud