depth images convert to point cloud

[ShucongYin]

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Required Info
Camera Model	{ R200 / F200 / SR300 / ZR300 / D400 }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	{Win (8.1/10) / Linux (Ubuntu 14/16/17) / MacOS
Kernel Version (Linux Only)	(e.g. 4.14.13)
Platform	PC/Raspberry Pi/ NVIDIA Jetson / etc..
SDK Version	{ legacy / 2.. }
Language	{C/C#/labview/nodejs/opencv/pcl/python/unity }
Segment	{Robot/Smartphone/VR/AR/others }

Issue Description

<Describe your issue / question / feature request / etc..>
I have rgb images and depth images, how can i get the point cloud files with a python code?

[MartyG-RealSense]

Hi @xunyi-yin Are you aiming to create a point cloud from live depth and RGB data streamed from the camera, please? Or are you using pre-made depth and color image files such as PNG format images?

Can you also confirm please whether you want to save the point cloud data as a ply file. Thank you very much.

[ShucongYin]

Hi @MartyG-RealSense I want to use pre-made PNG depth images only or PNG depth images and JPG color images to create point cloud. I think ply file is OK My computer system version is Ubuntu16.04

[MartyG-RealSense]

I looked carefully at what you want to achieve. It may be difficult to implement though, with a number of problems involved. The best reference available for aligning pre-made depth and color image files in Python is the recent discussion in the link below.

#8756

This information does not cover the process of deprojecting 2D pixel information to 3D world coordinates to generate a point cloud. It may be best to approach this project in stages and achieve the 2D depth / color alignment first before subsequently looking at how to deproject it to 3D and export it to ply.

[ShucongYin]

Hi @MartyG-RealSense Do you know how to get the depth image and color image together? My device is RealSense D455. My system is Ubuntu16.04

[MartyG-RealSense]

Could you confirm your meaning when you ask about "getting the depth image and color image together", please? If you are aligning pre-made depth and color image files in Python, information about doing this was provided in #8756

[ShucongYin]

I mean I have D455 camera and my system is ubuntu16.04. how can i get depth images. i ever used 'rosbag record' but i can not extract the depth images from the .bag files. I want to know if i can use python code to do this or other methods. I do not want to use c++ code @MartyG-RealSense

[MartyG-RealSense]

If you are asking about extracting depth frames from a bag file and saving them as PNG images with Python then the script in the link below may suit your needs.

#1887 (comment)

If you wanted to play back depth frames from a bag but not save them as image files then the SDK's read_bag_example Python example program may be helpful.

https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/read_bag_example.py

Intel's Python tutorial distance_to_object.py demonstrates how to align depth and color data from a bag.

https://github.com/IntelRealSense/librealsense/blob/jupyter/notebooks/distance_to_object.ipynb

[ShucongYin]

Thank you! I have solved it @MartyG-RealSense

[MartyG-RealSense]

Excellent news that you found a solution, @xunyi-yin :)

[MartyG-RealSense]

Case closed due to solution achieved and no further comments received.