最近做实验，想实现深度估计到三维点云再到网格的生成，第一步做出深度图结合RGB图生成三维点云，感觉效果凑合，

供大家欣赏！

RGB室内图：

Depth Image：（隐隐约约能过看到点什么）

生成的结果：

转个角度：

结果很粗糙，感觉这个方法不是很理想，也就是通过深度估计得到的深度图转换成点云的想法不太靠谱！

代码如下：（需要安装open3d）

from PIL import Image
import pandas as pd
import numpy as np
from open3d import read_point_cloud, draw_geometries
import timeclass point_cloud_generator():def __init__(self, rgb_file, depth_file, pc_file, focal_length, scalingfactor):self.rgb_file = rgb_fileself.depth_file = depth_fileself.pc_file = pc_fileself.focal_length = focal_lengthself.scalingfactor = scalingfactorself.rgb = Image.open(rgb_file)self.depth = Image.open(depth_file).convert('I')self.width = self.rgb.size[0]self.height = self.rgb.size[1]def calculate(self):t1=time.time()depth = np.asarray(self.depth).Tself.Z = depth / self.scalingfactorX = np.zeros((self.width, self.height))Y = np.zeros((self.width, self.height))for i in range(self.width):X[i, :] = np.full(X.shape[1], i)self.X = ((X - self.width / 2) * self.Z) / self.focal_lengthfor i in range(self.height):Y[:, i] = np.full(Y.shape[0], i)self.Y = ((Y - self.height / 2) * self.Z) / self.focal_lengthdf=np.zeros((6,self.width*self.height))df[0] = self.X.T.reshape(-1)df[1] = -self.Y.T.reshape(-1)df[2] = -self.Z.T.reshape(-1)img = np.array(self.rgb)df[3] = img[:, :, 0:1].reshape(-1)df[4] = img[:, :, 1:2].reshape(-1)df[5] = img[:, :, 2:3].reshape(-1)self.df=dft2=time.time()print('calcualte 3d point cloud Done.',t2-t1)def write_ply(self):t1=time.time()float_formatter = lambda x: "%.4f" % xpoints =[]for i in self.df.T:points.append("{} {} {} {} {} {} 0\n".format(float_formatter(i[0]), float_formatter(i[1]), float_formatter(i[2]),int(i[3]), int(i[4]), int(i[5])))file = open(self.pc_file, "w")file.write('''plyformat ascii 1.0element vertex %dproperty float xproperty float yproperty float zproperty uchar redproperty uchar greenproperty uchar blueproperty uchar alphaend_header%s''' % (len(points), "".join(points)))file.close()t2=time.time()print("Write into .ply file Done.",t2-t1)def show_point_cloud(self):pcd = read_point_cloud(self.pc_file)draw_geometries([pcd])a = point_cloud_generator('01446_colors.png', '01446_depth.png', '01446_3d.ply',focal_length=300, scalingfactor=1000)
a.calculate()
a.write_ply()
a.show_point_cloud()
df = a.df
np.save('pc.npy',df)

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