unclearness/pyrgbd

python RGB-D processing tool

pyrgbd: python RGB-D processing tool

pyrgbd provides useful RGB-D processing snipets which are not directly covered by major libraries like OpenCV or Open3D.

Implemented functions

• Project (3D -> 2D) / Unproject (2D with depth -> 3D)
• Depth image to point cloud
• Point cloud I/O
• Undistortion for depth image
  • cv2.undistort() causes artifacts for invalid (0) and boundary since it uses bilinear interpolation
  • Our implementation is artifact-free by using Nearest Neighbor like approach.
    • However, small lines or holes may occur

Original	After undistortion

• RGB-D image coordinate mapping
  • By using intrinsics and extrinsics, convert RGB image onto depth image coordinate

RGB	Depth	RGB mapped on Depth

Try

• Depth image to point cloud

  • python example/depth2pc.py

• Undistortion for depth image, RGB-D image coordinate mapping and multi-view integration

  • python example/multi_view.py
  • This example partially depends on Open3D 0.9.0

Dependencies

• numpy
• cv2