Open3d 可以在 RGB 模式下可视化点云吗? [英] Can Open3d visualize a point cloud in RGB mode?

问题描述

我在 Open3D 中找到了几个关于从 RGB-D 图像可视化点云的教程.但我只在灰度模式下得到结果.这是我的示例代码:

I found several tutorials about visualization of point cloud from RGB-D image in Open3D. But I only got the result in gray-scale mode. Here is my example code:

import open3d as o3d # installed by running: <pip install open3d-python> 
def img_to_pointcloud(img, depth, K, Rt):
    rgb = o3d.geometry.Image(img)
    depth = o3d.geometry.Image(depth)
    rgbd = o3d.geometry.create_rgbd_image_from_color_and_depth(rgb, depth, depth_scale=1.0, depth_trunc=50.0)
    fx, fy, cx, cy = K[0, 0], K[1, 1], K[0, 2], K[1, 2]
    intrinsic = o3d.camera.PinholeCameraIntrinsic(int(cx*2), int(cy*2), fx, fy, cx, cy)
    pc = o3d.create_point_cloud_from_rgbd_image(rgbd, intrinsic, Rt)
    o3d.visualization.draw_geometries([pc])

结果示例可以在 http://www.open3d.org/docs/release/getting_started.html#running-open3d-tutorials" rel="nofollow noreferrer">http://www.open3d.org/docs/release/getting_started.html#running-open3d-tutorials.Open3D 是否支持在 RGB 模式下可视化点云.如果没有，您会推荐 Python 中的哪些库?

The example of result can be found at http://www.open3d.org/docs/release/getting_started.html#running-open3d-tutorials. Does Open3D support visualize point cloud in RGB mode. If it doesn't, what the library would you recommend in Python?

推荐答案

Open3D 是否支持在 RGB 模式下可视化点云?

Does Open3D support visualize point cloud in RGB mode?

是的，确实如此.

Open3D.geometry.create_rgbd_image_from_color_and_depth 有一个可选参数 convert_rgb_to_intensity，默认设置为 true.

Open3D.geometry.create_rgbd_image_from_color_and_depth has an optional parameter convert_rgb_to_intensity which is set to be true by default.

要在 RGB 模式下可视化，只需将第五行更改为
rgbd = o3d.geometry.create_rgbd_image_from_color_and_depth(rgb, depth, depth_scale=1.0, depth_trunc=50.0, convert_rgb_to_intensity=False).

To visualize in RGB mode, just change your fifth line to
rgbd = o3d.geometry.create_rgbd_image_from_color_and_depth(rgb, depth, depth_scale=1.0, depth_trunc=50.0, convert_rgb_to_intensity=False).

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