utils3d.pctodepthimage

Functions

pctodepthimage(→ PIL.Image)

Convert point clouds to a depth image.

Module Contents

utils3d.pctodepthimage.pctodepthimage(path: str, extrinsics: numpy.ndarray, intrinsics: numpy.ndarray, height: int, width: int, scaling_factor: int = 0.15) → PIL.Image

Convert point clouds to a depth image. Returns a B&W image.

Parameters:

• path (str) – path to your point cloud file

• extrinsics (np.ndarray) – 3x4 matrix containing the extrinsic parameters.

• intrinsics (np.ndarray) – 3x3 matrix containing the intrinsic parameters.

• height (int) – height of the depth image.

• width (int) – width of the depth image.

• scaling_factor (int) – scaling factor decides the intensity of the pixel in the image. (defaults to 0.15)

Returns:

depth image created after tranforming the point cloud

Return type:

PIL.Image

Examples

>>> from utils3d.pctodepthimage import pctodepthimage
>>> depth_image = pctodepthimage(path, extrinsics, intrinsics, height, width, 0.15)
>>> depth_image.show()