open3d.geometry.create_point_cloud_from_rgbd_image

open3d.geometry.create_point_cloud_from_rgbd_image(image, intrinsic, extrinsic=(with default value))

Factory function to create a pointcloud from an RGB-D 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
Returns

open3d.geometry.PointCloud