concepts.hw_interface.george_vision.object_centric_vision.get_pointcloud_multicam

get_pointcloud_multicam(color_images, depth_images, camera_transformations)

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

Parameters:

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

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

• camera_transformations (List[CameraTransformation]) – N CameraTransformation object.

Returns:

a colored open3d point cloud.

Return type:

PointCloud