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

• image (open3d.geometry.RGBDImage) –

• 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.]])

Returns

open3d.geometry.PointCloud