Convert RGBD to point cloud


I’d like to convert rgbd image to point cloud.

So I got and color image and depth image from “/zedm/zed_node/left/image_rect_color” and “/zedm/zed_node/depth/depth_registered”

Using open3d, I got a result like below.

I think it’s the problem about depth.

Thanks in advance.

Hi @beginner
why not directly using the point cloud data in /zedm/zed_node/point_cloud/cloud_registered?

Thank you for reply.

I’d like to make point cloud using 2d segmented rgb image and depth image.

So, before doing that process, I tried to convert point cloud using existing rgb and depth.

This support page can be useful:

Using the code from the link above, I got an image(rgb, depth)

And it shows better result.

Thank you for reply.