🟠 Extract Depth Image

Function Description

This operator is used to extract depth images from input ordered point clouds, where each pixel value in the depth image represents the Z value of the corresponding point in the camera coordinate system.

Usage Scenarios

Suitable for restoring point clouds to two-dimensional depth images aligned with images, facilitating subsequent depth-based image processing or visualization.

Input Output

Input

Point cloud: Ordered point cloud, shape must be (H,W,3), i.e., each pixel corresponds to a [X,Y,Z] three-dimensional point. Supports lists composed of multiple point clouds.

Output

Depth image: Two-dimensional depth image corresponding to point cloud space, where each pixel value is the Z coordinate of the three-dimensional point at that position. If input is a point cloud list, then output corresponds to multiple depth image lists.