concepts.vision.george_vision_pipeline.object_centric_vision.get_pointcloud#
- get_pointcloud(color_image, depth_image, camera_transformation=None)[source]#
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:
open3d.geometry.PointCloud