How to reconstruct color image from point clouds

mannem

Hi! i have color image and its corresponding point cloud. point cloud has X,Y,Z and RGB values and i want to reconstruct the color image using the color property in the point cloud using oak-d. how can i do it? are there any ways? any tips or links would be appreciated.
Thank you
Regards
mannem

erik

Hi mannem ,
I think the cv2.projectPoints() would work, so to project the colored pointcloud back to 2d image. Thoughts?
Thanks, Erik

mannem

erik Thanks and apologies for late reply. According to him. if we separate color and location properties from the cloud. by using r,g,b cloud values and reshaping with size of the image gives the reconstructed color image. do you think is this the right approach?

erik

Hi mannem ,
If you just have an unordered pointcloud (basically array of 3d points), then you can't just "take" RGB out, and you would need to reproject the points to 2d plane. If you have ordered (2d) array of rgb 3d points then you could do that.
Thanks, Erik

mannem

erik Hi! I have got an unorganized point cloud by running depthai-experiments/gen2-pointcloud. is there any other example or function to get organized point cloud using oak-D? my goal is to segment the region of interest from the point cloud. can i do segmentation with unorganized point clouds?
Many many thanks in advance.
mannem.

mannem

@mannem em"#p6151 HI Eric. any inputs on to get organized point cloud using oak-D sensor?

erik

Hi mannem ,

example or function to get organized point cloud using oak-D?

The gen2-pointcloud generated "organized" pointcloud. After that, I don't know how open3d handles the data, it's best to ask them directly (as I am not familiar with open3d at all).

can i do segmentation with unorganized point clouds?

Yep you can.

Please also note that we don't have 5-hour replying policy, but closer to 1-business day reply policy for technical support.
Thanks, Erik