Convert to Depth Map

This algorithm converts a dense point cloud to a depth map.

Input

A single dense point cloud

Output

A 2D floating point image with the width and height of the input point cloud. Each pixel in this image encodes a depth value in millimeters.

Additionally, there may be an 8bit RGB image of the same size that contains the point colors of the dense point cloud.

The images also receive the RGB-D data components corresponding to the point cloud.

Description

The algorithm directly takes depth and optionally color values from the dense point cloud and writes them into images. For depth values the z coordinates of the point positions relative to the coordinate origin are used. Pixels without a corresponding point are assigned a value of 0.

The following parameters may be configured:

• scale: All depth values get multiplied with this value

• exportColor: When enabled, the algorithm produces a second image containing the point colors. Not available on point clouds without color data.