How to get point cloud?

[zou-longkun]

Hello, I want to get a point cloud from a depth scene image. I use the given camera parameters, but the obtained point cloud has certain distortion. Can you explain it?

[mikeroberts3000]

Hi!

Our depth images are actually measuring Euclidean distance to the camera, not planar depth. See #9 for more details. If you're using depth images to obtain a point cloud, you need to take this nuance into account. And to be 100% correct, you will also need to take into account our per-scene camera intrinsics. See here for more details.

But actually none of the above steps are necessary. We release position images, and you can simply reshape these images from [H, W, 3] to [H*W, 3] and concatenate them together to obtain a consistent world-space point cloud.