create RGBD from numpy arrays

[lukaspistelak]

according to this link:
#473

 def register_RGBD(self,t_rgb, t_depth, s_rgb, s_depth,fx, fy, cx, cy):
        
        height=t_rgb.shape[0]
        width=t_rgb.shape[1]
        
       # np.set_printoptions(threshold=np.nan)
         
        intrinsic = PinholeCameraIntrinsic(width, height, fx, fy, cx, cy)     
        #intrinsic = PinholeCameraIntrinsic( PinholeCameraIntrinsicParameters.PrimeSenseDefault)               
        print("t_depth",t_depth[0,:])
        
        with_opencv=True        
        
        s_rgb=Image(s_rgb)              
        s_depth=Image(s_depth)
        
        t_rgb=Image(t_rgb)                
        t_depth=Image(t_depth)
         
        #t_depth = read_image(python_Image.fromarray(t_depth)) #print("t_depth",t_depth)
         
        source_rgbd_image = create_rgbd_image_from_color_and_depth( s_rgb, s_depth)
        target_rgbd_image = create_rgbd_image_from_color_and_depth( t_rgb, t_depth)        
        #      
        print("(target_rgbd_image.depth).dtype",np.asarray(target_rgbd_image.depth)[0,:])

I want to create rgbd from 2 numpy arrays: rgb_numpy_array and depth_numpy_array
When I print the first row of input dept numpy array uint16 and rgbd numpy float32 array the values are absolute different:

('t_depth', array([   0,    0,    0,    0,    0,    0,    0,    0,    0,    0,    0,
          0,    0,    0,    0,    0,    0,    0,    0, 3501, 3501, 3501,
       3489, 3489,    0, 3466, 3466,    0,    0,    0,    0,    0,    0,
          0,    0,    0,    0,    0, 3421, 3421, 3443, 3466, 3501, 3524,
       3560, 3622, 3660, 3712, 3738, 3765, 3792, 3820, 3834, 3877, 3891,
       3906, 3920, 3920, 3935, 3935, 3950, 3965, 3965, 3980, 3995, 4010,
       4026, 4026, 4026, 4041, 4041, 4041, 4041, 4026, 4026, 4026, 4026,
       4026, 4026, 4026, 4026, 4026, 4041, 4041, 4057, 4073, 4089, 4105,
       4137, 4187, 4238, 4343, 4473, 4611, 4736, 4824, 4914, 5008, 5081,
       5131, 5156, 5156, 5131, 5106, 5057, 5032, 5008, 4961, 4937, 4937,
       4937, 4937, 4937, 4961, 5008, 5057, 5081, 5081, 5156, 5182, 5208,

VS.:

('(target_rgbd_image.depth).dtype', array([ 0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,
        0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,  0.,

[syncle]

@lukaspistelak Could you share minimal code and example data so we can take a look? It would help to understand the issue based on real example. Thanks!

[lukaspistelak]

Oups sorry for my mistake:
this method:

open3d.geometry.create_rgbd_image_from_color_and_depth(color: open3d.geometry.Image, depth: open3d.geometry.Image, depth_scale: float=1000.0, depth_trunc: float=3.0, convert_rgb_to_intensity: bool=True) → open3d.geometry.RGBDImage

has the depth_trunc: default value : float=3.0 metres!

that's the reason why will be cut off my values:! :(