concepts.hw_interface.george_vision.object_centric_vision.get_pointcloud

get_pointcloud(color_image, depth_image, camera_transformation=None)

Reconstruct a colored point cloud from a color and depth image.

Parameters:

• color_image (ndarray) – a numpy array of shape (H, W, 3) representing the color image.

• depth_image (ndarray) – a numpy array of shape (H, W) representing the depth image.

• camera_transformation (CameraTransformation | None) – a CameraTransformation object.

Returns:

a colored open3d point cloud.

Return type:

PointCloud