cannot use 'create_rgbd_image_from_color_and_depth' 'create_point_cloud_from_rgbd_image' after version update

[kaixin-bai]

code is below, after i update open3d to version 0.8.0.0, i got error like this:

rgbd = o3d.geometry.create_rgbd_image_from_color_and_depth(img, depth)
AttributeError: module 'open3d.open3d.geometry' has no attribute 'create_rgbd_image_from_color_and_depth'

image = np.array(img.copy())
H, W, _ = image.shape
fx, fy, cx, cy = get_intrinsic()
intrinsic = o3d.camera.PinholeCameraIntrinsic(W,H,fx,fy,cx,cy)
img = o3d.geometry.Image(image.astype(np.uint8))
depth = np.asarray(depth).astype(np.float32) / cam_scale
depth = o3d.geometry.Image(depth)
rgbd = o3d.geometry.create_rgbd_image_from_color_and_depth(img, depth)
pcd = o3d.geometry.create_point_cloud_from_rgbd_image(rgbd, intrinsic)

Could someone tell me how to fix it?
Thanks a lot!

[griegler]

The API changed in 0.8.
The last two lines should be something like

rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(img, depth)
pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd, intrinsic)

[rtuchman]

Hi @griegler , what are the required types and shapes of img, depth?

Thanks

[griegler]

@rtuchman img and depth should have the same height and width. img can have one, or three channels, depth should have a single channel. img can be uint8, or float. depth should be float.

[sharoseali]

The API changed in 0.8. The last two lines should be something like

rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(img, depth)
pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd, intrinsic)

Thanks, @griegler the resultant point cloud isn't well-drawn well and point cloud colours are also in grayscale not RGB. Any idea how to plot PFM correctly with the colour point cloud. THanks

[tanqiao-nreal]

You need to set convert_rgb_to_intensity to False when calling create_from_color_and_depth to generate a color point cloud. See http://www.open3d.org/docs/0.7.0/python_api/open3d.geometry.create_rgbd_image_from_color_and_depth.html