Depth Map to Point Cloud

Operator Function

Convert the input 2D depth map to a point cloud.

Parameter Introduction

Input Parameters

Parameter	Range	Default Value	Description	Illustration
Input Image	0-8	0	The IM number for image input

Calculation Parameters

Parameter	Range	Default Value	Description	Illustration
Algorithm	Process Integer Type Images, Process Integer or Float Type Images		Process Integer Type Images: Input image pixel data type is unsigned integer Process Integer or Float Type Images: Input image pixel data type is float or double
Z Value when Pixel is Black		0.000	The height value corresponding to grayscale value $2$ in the input image
Z Value when Pixel is White		0.000	The height value corresponding to grayscale value $2^n-2$ in the input image, where $n$ is the image bit depth.
X-axis Resolution		1.000	Set the point spacing in X direction
Y-axis Resolution		1.000	Set the point spacing in Y direction
Z-axis Resolution		1.000	Set the point spacing in Z direction. Note: Only displayed when using Process Integer or Float Type Images.
X Offset		0.000	Set the offset in X direction to shift the point cloud in X direction
Y Offset		0.000	Set the offset in Y direction to shift the point cloud in Y direction
Z Offset		0.000	Set the offset in Z direction to shift the point cloud in Z direction. Note: Only displayed when using Process Integer or Float Type Images.
Output Image	0-8	0	The IM number for image output

Output Parameters

Name	Type	Range	Description
Result	bool	true/false	true for success false for failure
Warning	bool	true/false	true indicates a warning false indicates none
Message	string		Output success, error, or warning messages. Empty if no error or warning
Time	float		Operator execution time, unit: ms

Mapping Relationship Between Depth Value and Height Value

Depth Value	Height Value
0	Invalid point (nan)
2	Z Value when Pixel is Black
$2^n-2$ n is bit depth	Z Value when Pixel is White
1	Invalid point (nan)
$2^n-1$ n is bit depth	Invalid point (nan)

Exception Troubleshooting

No.	Exception Information	Corresponding Parameter	Solution
1	Input image is empty		Check if input image is empty
2	Resolution cannot be 0		Modify resolution value to be greater than 0
3	Unsupported image type. Only 8-bit or 16-bit images supported		In linear conversion range mode, only 8-bit, 16-bit images are supported
4	Unsupported image channel count		In linear conversion range mode, only single-channel, 3-channel, 4-channel images of 8-bit, 16-bit are supported
5	Z Value when Pixel is Black and Z Value when Pixel is White cannot be the same		Modify the two values to be different
6	Unsupported floating-point image type		In custom resolution mode, only single-channel, 3-channel, 4-channel images of 8-bit, 16-bit are supported
7	Input value {0} is invalid z value conversion method	z value conversion method	Only Integer type images, Integer or Float type images are supported

Example Introduction

Engineering Design

1. Select the Load 3D Point Cloud tool to load the required 3D point cloud image into IM0.

2. Select two Depth Map to Point Cloud tools and set different z value conversion methods.

Tool Usage

1. Select the input image for operation. The image number must match the IM number where the image is located in the project.

2. Set the parameters.

3. Click Test to check if the image window and parameters meet expectations.

4. If everything is correct, click Save, then run the operator in the run list. You can view the results in the corresponding IM.