RealSense RGB-Depth Camera Tutorial 02

I hope this note could finally solve the Point Cloud Segmentation + YOLO

Key Code

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import pyrealsense2.pyrealsense2 as rs

pc = rs.pointcloud()
points = rs.points()

points = pc.calculate(depth_frame)

vertices = np.asanyarray(points.get_vertices(dim=2))

Notes

points = rs.points(): Extends the frame class with additional point cloud related attributes and functions.

points.get_vertices(dim=2): Retrieve the vertices of the point cloud

o3d.utility.Vector3dVector(vertices_interest): Convert float64 numpy array of shape (n, 3) to Open3D format, 3 means x,y,z

Reference

https://intelrealsense.github.io/librealsense/python_docs/_generated/pyrealsense2.points.html?highlight=get_vertices