Generate and visualize a colored point cloud from RGBD camera using python.

Here we will see the code to generate the point cloud, this code is based on the theory presented in the home page.

Data Acquisition

depth-Image

The first thing we need is a depth sensor to obtain the depth data, for this the Microsoft kinect sensor will be used, however the theory of this tutorial will be used for any sensor, the difference would be the way to acquire the data.

Requirements

  • ubuntu 18.04
  • install libfreenect
  • pip install opencv-python
  • pip install numpy

Here's how to acquire the kinect sensor data. The file name is DataAcquisition.py

Data Transformation

Here we explain the procedure to transform the depth map returned by the depth camera to real world 3D coordinates. For this, the equation that comes from the pinhole model of a camera is used.

Requirements

  • pip install opencv-python
  • pip install numpy

This class shows how to transform the images and how to generate the color of the point cloud from the intrinsic matrix and the homography matrix. The file name is Transformation.py

Data Visualization

pointc

Requirements

  • DataAcquisition.py
  • Transformation.py
  • pip install numpy
  • pip install vedo
pointcolor