我有一个来自Intel RealSense摄像头的深度帧,我想将其转换为点云并可视化点云。到目前为止,对于仅给定深度帧和摄影机内部函数的点云的创建,我发现了以下两个函数,但是我似乎找不到将其中一个可视化或将它们存储为.ply
文件的方法
我应该如何想象这样制作的点云
方法1:
pointcloud = convert_depth_frame_to_pointcloud(original_depth_frame, color_intrinsics)
其中convert_depth_frame_to_pointcloud
是RealSense中的helper function
使用Open3D库的方法2:
pcd = o3d.geometry.PointCloud.create_from_depth_image(original_depth_frame, color_intrinsics)
pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
print(np.asarray(pcd.points)[1, :])
o3d.visualization.draw_geometries([pcd])
另外,在使用o3d时,我会遇到以下错误:
create_from_depth_image(): incompatible function arguments. The following argument types are supported:
1. (depth: open3d::geometry::Image, intrinsic: open3d.cuda.pybind.camera.PinholeCameraIntrinsic, extrinsic: numpy.ndarray[float64[4, 4]] = array([[1., 0., 0., 0.],
[0., 1., 0., 0.],
[0., 0., 1., 0.],
[0., 0., 0., 1.]]), depth_scale: float = 1000.0, depth_trunc: float = 1000.0, stride: int = 1, project_valid_depth_only: bool = True) -> open3d.cuda.pybind.geometry.PointCloud
此处读取原始深度帧:
frame = cv2.imread(os.path.join(args.depth_input_dir, imgs_dir[frame_idx]), cv2.IMREAD_ANYDEPTH)
其中一个深度图像类似于:
000248.png PNG 1280x720 1280x720+0+0 16-bit Grayscale Gray 567278B 0.000u 0:00.000
其中color_intrinsics为:
def set_intrinsics(intrinsics_dict):
intrinsics = rs.intrinsics()
intrinsics.width = intrinsics_dict['width']
intrinsics.height = intrinsics_dict['height']
intrinsics.ppx = intrinsics_dict['ppx']
intrinsics.ppy = intrinsics_dict['ppy']
intrinsics.fx = intrinsics_dict['fx']
intrinsics.fy = intrinsics_dict['fy']
intrinsics.model = intrinsics_dict['model']
intrinsics.coeffs = intrinsics_dict['coeffs']
return intrinsics
color_intrinsics = set_intrinsics(camera['color_intrinsics'])
如果我不使用opencv阅读深度图像,我可以使用open3d以PNG格式创建深度图像的点云(但是我需要在代码中这样做)
import open3d as o3d
import matplotlib.pyplot as plt
import numpy as np
raw_depth = o3d.io.read_image('depth_images/000248.png')
pcd = o3d.geometry.PointCloud.create_from_depth_image(raw_depth,
o3d.camera.PinholeCameraIntrinsic(
o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault)
, np.identity(4), depth_scale=1000.0, depth_trunc=1000.0)
pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
print(np.asarray(pcd.points)[1,:])
o3d.visualization.draw_geometries([pcd])
^^上面的代码生成一个3D点云
您需要阅读图像,如下所示:
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