No point cloud/white screen created for o3d.geometry.PointCloud.create_from_rgbd_image

[pranman11]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

My Question

Hello, I've been searching for what I could be doing wrong for a while, but can't get the point cloud creation from rgbd to work. I have captured rgb and depth frames from realsense D455 cameras and stored them as png and now using them to create a point cloud. Below are the details:

`# Function to load RGB and depth images and convert to point cloud
def create_point_cloud(rgb_image_path, depth_image_path, intrinsic):
if not os.path.exists(rgb_image_path) or not os.path.exists(depth_image_path):
print(f"Error")
exit()

color_raw = o3d.io.read_image(rgb_image_path)
color = o3d.geometry.Image(np.array(np.asarray(color_raw)[:, :, :3]).astype('uint8'))
depth = o3d.io.read_image(depth_image_path)

# Convert to numpy array
depth_array = np.array(depth)    
rgb_array = np.array(color)
print(rgb_array.shape, rgb_array.dtype)
print(depth_array.shape, depth_array.dtype)
print(rgb_array[0])
print(depth_array[0])

rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(
    color, depth, depth_scale=1000, convert_rgb_to_intensity=True)
    
plt.subplot(1, 2, 1)
plt.title('RGB Image')
plt.imshow(rgbd_image.color)
plt.subplot(1, 2, 2)
plt.title('Depth Image')
plt.imshow(rgbd_image.depth, cmap='gray')
plt.show()

print("rgbd created")
pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd_image, intrinsic)
print("pc created")
return pcd

intrinsic = o3d.camera.PinholeCameraIntrinsic(
width=480, height=640, fx=384.0992736816406, fy=383.57464599609375, cx=320.2293395996094, cy=245.76773071289062)`

OUTPUT:

The rgbd images and the pointcloud are created as well but the visualizer displays an empty white screen.

[timohl]

Some points that would help if you could provide them:

• Open3D version
• Output of your print statements (maybe also print info about the point cloud)
• Code calling the visualizer

Also, your code markdown is a bit messed up.