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thodan / bop_toolkit

A Python toolkit of the BOP benchmark for 6D object pose estimation.
http://bop.felk.cvut.cz
MIT License
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Does bop_toolkit have an example that converts from depth to point cloud? #34

Closed TouchDeeper closed 4 years ago

TouchDeeper commented 4 years ago

Hello,

As the title said, Does bop_toolkit have an example that converts from depth to point cloud?

thodan commented 4 years ago

The SIXD Toolkit (which is the predecessor of the BOP Toolkit) contains such function (rgbd_to_point_cloud): https://github.com/thodan/sixd_toolkit/blob/9430a1970d1ee48abd2d2ff7eceee50b2782a7a8/pysixd/misc.py#L64