Convert Depth Image to Point Cloud

Function Description

Converts depth images to point cloud data in the corresponding scene. Supports extracting depth information for specific regions through Region of Interest (ROI) and can generate color point clouds with color information by combining with color images.

DepthToPointCloud

Use Cases

Typically used after the “Image Acquisition” step to convert depth images acquired by the camera into point clouds. By setting the region of interest, unnecessary point clouds can be removed to improve execution speed.

Inputs

  • Camera Depth Image (Required): Depth image to be converted. Please use the depth image output from the “Image Acquisition” step.

  • Camera Color Image (Optional): Color image of the same scene as the depth image, used to generate color point clouds.

Outputs

  • Point Cloud: Converted point cloud data.

  • Color Point Cloud: Point cloud data with color information (can be generated when color image is input).

Parameters

Depth Image ROI File

  • Open Editor: Click to open the 2D image editor window.

    Number

    Description

    Function

    1

    Depth image display area

    Displays the currently input depth image.

    2

    2D ROI box

    In the depth image preview window, hold down the left mouse button and drag to draw a green ROI box.
    Only depth information within this area will be converted to point cloud.

    3

    Target region attribute settings area

    Precisely set the position and size of the ROI region:
    - Top-left vertex X: X coordinate of the ROI region’s top-left corner.
    - Top-left vertex Y: Y coordinate of the ROI region’s top-left corner.
    - Region Width W: Width of the ROI region.
    - Region Height H: Height of the ROI region.

    4

    2D ROI file management area

    2D ROI file configuration and management:

    Create New 2D ROI File
    Enter a file name in the “File Name” field and click to create a new file.
    At this time, the “Load File” field will automatically switch to this file.
    File storage address: {current solution directory}/Asset/ROI_2D

    Delete 2D ROI File
    Click to delete the 2D ROI file displayed in the “File Name” field.

    Switch 2D ROI File
    Select a saved 2D ROI file from the “Load File” dropdown.

    5

    Confirm

    After drawing the 2D ROI box and completing ROI file configuration, click “Confirm”.

  • Depth Image ROI File: Displays the name of the currently selected ROI file.

ROI files are saved by default in the {current solution directory}/Asset/ROI_2D directory.