concepts.simulator.pybullet.camera.get_point_cloud_image#
- get_point_cloud_image(config, depth)[source]#
Reconstruct point clouds from the depth image. This function differs from the
get_point_cloud()function in that it returns a point cloud “image”, that is, a 3D point for each pixel in the depth image.- Parameters:
config (CameraConfig) – camera configuration.
depth (ndarray) – depth image, of shape (H, W).
- Returns:
point cloud image, of shape (H, W, 3).
- Return type:
points