Open3d生成点云图

主要目的：根据得到的RGB彩色图像和Depth深度图像，生成点云图，采用的是open3d软件：

import open3d as o3d
import matplotlib.pyplot as plt
import numpy as np

if __name__ == "__main__":
    print("Read Redwood dataset")
    color_raw = o3d.io.read_image("/home/liu/桌面/ceshi/color1.jpg")
    # print(color_raw)
    # a = np.asarray(color_raw)  # 把图像转换为numpy数组
    # print(a)
    # print(a.shape)
    depth_raw = o3d.io.read_image("/home/liu/桌面/ceshi/depth.png")
    rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(
        color_raw, depth_raw, convert_rgb_to_intensity=False)
    print(rgbd_image)

    pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
        rgbd_image,
        o3d.camera.PinholeCameraIntrinsic(
            o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))
    # Flip it, otherwise the pointcloud will be upside down
    pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
    # o3d.io.write_point_cloud("test.pcd", pcd)
    o3d.visualization.draw_geometries([pcd])

理论：

 参考链接：

https://blog.csdn.net/jacke121/article/details/118004411