Main.py includes three parts of code: Color filtering, depth filtering, and conversion from RGB-D image to point cloud data. The conversion is based on three formulas: for each point: z = d x = (u - cx) / fx * z y = (v - cy) / fy * z
where cx, cy, fx, fy are the camera intrinsics
The point cloud data was then colored and stored. It will be matched with internal images and processed later.