[D455] Compare PointCloud Between IntelRealSenseViewer And Python Code

Nguyenduyduc14

August 08, 2022 06:23

Hi,

First, I get the .ply file from the intelRealSenseViewer. Then I show it by Open3D with:

pcd = o3d.io.read_point_cloud(myPlyPath)

print(pcd)

print(np.asarray(pcd.points))

o3d.visualization.draw_geometries([pcd])

=> Output Console: PointCloud with 134523 points. The pointCloud has color.

Second, I get pointCloud by:

Get a depth&Color Frame, postprocessing as same as IntelRealSenseViewer, AlignFrame, pointcloud.calculate(depthFrame), pointcloud.map_to(colorFrame).

Then I export to .ply file by pointcloud.export_to_ply("path", colorFrame)

I read by open3D again with the same code above but the file name.

=> Output Console: PointCloud with 488759 points. The PointCloud has only gray color.
I have tried to export with depthFrame, the colors are white and black.

1. Why are the points number different?

2. Why does not pointcloud have color?

Thanks

Comments

1 comment

MartyX Grover

August 08, 2022 07:27
Hi Nguyenduyduc14 In the link below, a RealSense user reported that export_to_ply resulted in four times as many vertexes and faces as a RealSense Viewer ply export. That x4 multiplication is consistent with your 134523 / 488759

https://support.intelrealsense.com/hc/en-us/community/posts/360052973873-Exporting-point-cloud-using-export-to-ply-generates-a-large-ply-file-size-as-compared-to-exporting-the-point-cloud-from-the-Intel-RealSense-Viewer

The above link also contains a link to a Python export_to_ply script for exporting a ply with color data, though without vertex normals. This script is the only technique that has been proven to work for exporting a color ply in Python.
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