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@@ -17,7 +17,7 @@ def pointscloud2depthmap(points):
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point_image = np.zeros((height, width, 3), dtype=np.float32)
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# 遍历点云中的每个点，进行投影并填充目标数组
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for point in points:
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- X, Y, Z = point
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+ X, Y, Z ,r,g,b= point
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if Z > 0: # 确保Z值有效
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# 计算2D图像坐标
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u = int((X * fx) / Z + cx)
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@@ -28,7 +28,24 @@ def pointscloud2depthmap(points):
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point_image[v, u, :] = point
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return point_image
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+def pointscloud2colorimg(points):
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+ # 初始化一个空的目标数组
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+ point_image = np.zeros((height, width, 3), dtype=np.float32)
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+ color_image = np.zeros((height, width, 3), dtype=np.float32)
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+ # 遍历点云中的每个点，进行投影并填充目标数组
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+ for point in points:
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+ X, Y, Z ,r,g,b= point
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+ if Z > 0: # 确保Z值有效
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+ # 计算2D图像坐标
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+ u = int((X * fx) / Z + cx)
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+ v = int((Y * fy) / Z + cy)
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+
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+ # 检查是否在图像边界内
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+ if 0 <= u < width and 0 <= v < height:
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+ # point_image[v, u, :] = point
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+ color_image[v,u]=[r*255,g*255,b*255]
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+ return color_image
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# # 使用imageio读取
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@@ -41,7 +58,7 @@ def pointscloud2depthmap(points):
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# 加载PCD文件
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-pcd = o3d.io.read_point_cloud(r"F:\DevTools\datasets\test.pcd")
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+pcd = o3d.io.read_point_cloud(r"F:\test_pointcloud\color.pcd")
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# 打印点的数量
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print("Number of points:", len(pcd.points))
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@@ -49,8 +66,12 @@ print("Number of points:", len(pcd.points))
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# 获取点云数据
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points = np.asarray(pcd.points)
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+colors=np.asarray(pcd.colors)
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+points = np.hstack((points, colors)) # (N, 6)
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+
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# 打印前5个点的坐标
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print("First 5 points:\n", points[:5])
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+print(f'color:{colors}')
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#
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# print(f'depth :{loaded_depth_map[0,0:5]}')
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#
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@@ -91,8 +112,8 @@ height, width = 2000, 2000
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-point_image=pointscloud2depthmap(points)
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-
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+# point_image=pointscloud2depthmap(points)
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+point_image=pointscloud2colorimg(points)
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# 打印结果以验证
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print("Shape of the projected point cloud:", point_image.shape)
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print("First few pixels (if any):", point_image[:5, :5, :])
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@@ -111,8 +132,10 @@ print("Min depth value:", np.min(depth_map))
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print("Max depth value:", np.max(depth_map))
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# 保存为 TIFF 文件
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-output_tiff_path = 'depth_map.tiff'
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-tifffile.imwrite(output_tiff_path, depth_map.astype(np.float16))
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+# output_tiff_path = 'depth_map.tiff'
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+color_img_path='color_img.jpg'
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-print(f"Depth map saved to {output_tiff_path}")
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+# tifffile.imwrite(output_tiff_path, depth_map.astype(np.float16))
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+cv2.imwrite(color_img_path,point_image)
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+# print(f"Depth map saved to {output_tiff_path}")
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