need help with pointcloud creation and visualization given only the depth data

[monacv]

I saw https://github.com/dorodnic/binder_test/blob/master/pointcloud.ipynb however it also makes use of RGB frames.

If I only have the depth data and color_intrinsics, how can I create a pointcloud using RealSense API and how can I visualize it?

I also saw this method but I am unsure how I could visualize it:
pointcloud = convert_depth_frame_to_pointcloud(original_depth_frame, color_intrinsics)

Also for the line above I get this error:
module 'pyrealsense2' has no attribute 'convert_depth_frame_to_pointcloud'
where:

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'])

Please also have a look at https://stackoverflow.com/questions/65930029/visualizing-the-pointcloud-from-realsense-api-or-open3d-library

[MartyG-RealSense]

Hi @monacv I wonder if what you are hoping to do is to generate a color-shaded point cloud in Python without using RGB. Is that correct, please?

[monacv]

Hi @MartyG-RealSense, thanks a lot for your reply.

I'd be interested to learn how you did this? Do you have the code snippet for reproducing it for Intel RealSense camera? Yes, I want to create the 3D pointcloud only using the depth frame and depth intrinsics and depth scale.

I have created a version using O3D for now but would like to learn how to use this other version too.
isl-org/Open3D#2959

[MartyG-RealSense]

The image I provided above was produced in the RealSense Viewer, but you can control depth colorization with code too so that Python point clouds look more like the ones produced by the Viewer.

A range of resources for configuring depth colorization in Python are provided in the link below.

#7767 (comment)

[MartyG-RealSense]

Hi @monacv Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

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