2D image to Frustum pointcloud

charlesq34 / frustum-pointnets

Frustum PointNets for 3D Object Detection from RGB-D Data

Apache License 2.0

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2D image to Frustum pointcloud #111

Open atul1234anand opened 4 years ago

atul1234anand commented 4 years ago

Where are the pointclouds being generated from the depth map?

Sherlock-hh commented 3 years ago

sunrgbd: extract_rgbd_data.m % Write point cloud in depth map [rgb,points3d,depthInpaint,imsize]=read3dPoints(data); rgb(isnan(points3d(:,1)),:) = []; points3d(isnan(points3d(:,1)),:) = []; points3d_rgb= [points3d, rgb]; filename = strcat(num2str(imageId,'%06d'), '.txt');%生成txt文件 dlmwrite(strcat(depth_folder, filename), points3d_rgb, 'delimiter', ' ');