CODEWITHSUNDEEP
python3dsimulationpoint-cloudsopen3d
Andrei Miculiță
Andrei Miculiță

Reputation: 343

How do I generate a partial view of a mesh as a point cloud in Python?

I have a dataset of meshes, which I want to use to generate partial view data as point clouds. In other words, simulating the way an RGB-D sensor would work.

My solution is very naive, so feel free to disregard it and suggest another method.

It consists of taking a rendered RGB and a rendered D image from an o3d visualization, as such:

vis.add_geometry(tr_mesh)

... # set some params to have a certain angle

vis.capture_screen_image('somepath.png')
vis.capture_depth_image('someotherpath.png')

These are saved as PNG files. Then I combine them into an o3d RGBDImage:

 # Load the RGB image
 rgb = o3d.io.read_image(rgb_path)

 # Load the depth image
 depth = o3d.io.read_image(depth_path)

 # Convert the RGB and depth images into pointcloud
 rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(color=o3d.geometry.Image(rgb), 
                                                           depth=o3d.geometry.Image(depth), 
                                                           convert_rgb_to_intensity=False)

And convert this to a PointCloud

pcd = o3d.geometry.PointCloud.create_from_rgbd_image(image=rgbd,
intrinsic=o3d.camera.PinholeCameraIntrinsic(o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))

This has many limitations:

Again, this is a very naive solution, so completely different approaches are very welcome.

This is not a duplicate of Can I generate Point Cloud from mesh? as I want partial views. So think that question, but with back-face culling.

Upvotes: 1

Views: 1096

Answers (1)

Andrei Miculiță
Andrei Miculiță

Reputation: 343

Getting back with the solution.

No image capture is needed. There is a function called vis.capture_depth_point_cloud()

So the partial view can be generated by simply running

vis.add_geometry(tr_mesh)

... # set some params to have a certain angle

vis.capture_depth_point_cloud("somefilename.pcd")

This also has a parameter called convert_to_world_coordinate which is very useful.

There doesn't seem to be a way to change the resolution of the sensor. Though up-(or down-)scaling the object, capturing the point cloud, then down-(or up-)scaling the point cloud should obtain the same effect.

Upvotes: 1

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