Generating the pointcloud?

[skymanaditya1]

Hi, thanks for the rendering code. How do you generate the pointcloud from the rgb and depth images and the corresponding camera intrinsic. I believe that the camera intrinsic is returned from the getBlenderProj() function, and I use it to generate the pointcloud as follows.

def get_pcd_o3d(rgb, depth, fx, fy, cx, cy, extrinsic=None):
    height, width, _ = rgb.shape
    
    o3d_rgb = o3d.geometry.Image(rgb)
    o3d_depth = o3d.geometry.Image(depth)
    
    rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(o3d_rgb, o3d_depth, depth_scale=1, convert_rgb_to_intensity=False)
    
    pinhole_camera = o3d.camera.PinholeCameraIntrinsic(
        width,
        height, 
        fx, 
        fy, 
        cx, 
        cy
    )
    
    if extrinsic is not None:
        pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd_image, pinhole_camera) #, extrinsic)
        pcd = pcd.transform(extrinsic)
    else:
        pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd_image, pinhole_camera)

    return pcd

The K matrix comes out to be ->
[[245. 0. 112.] [ 0. 245. 112.] [ 0. 0. 1.]]

However, the pointcloud comes out as --

Any idea what's going wrong in here?