YCB数据集中深度图和彩色图对齐存在问题

1. 使用Open3D库提供的函数对深度和彩色图进行对齐。示例代码如下：

import open3d as o3d

# 读取深度图和彩色图
depth_image = o3d.io.read_image("depth_image.png")
color_image = o3d.io.read_image("color_image.png")

# 构建RGBD图像
rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(
    color=color_image,
    depth=depth_image,
    depth_scale=1000.0,
    depth_trunc=0.03,
    convert_rgb_to_intensity=False
)

# 将RGBD图像对齐
pinhole_camera_intrinsic = o3d.io.read_pinhole_camera_intrinsic("camera_intrinsic.json")
rgbd_image = rgbd_image.transform(np.linalg.inv(pinhole_camera_intrinsic.intrinsic_matrix))

2. 使用OpenCV库提供的函数对深度和彩色图进行对齐。示例代码如下：

import cv2

# 读取深度图和彩色图
depth_image = cv2.imread("depth_image.png", cv2.IMREAD_ANYDEPTH)
color_image = cv2.imread("color_image.png", cv2.IMREAD_COLOR)

# 构建点云
camera_intrinsics = np.loadtxt("camera_intrinsics.txt", delimiter=",")
fx, fy, cx, cy = camera_intrinsics[:4]
camera_matrix = np.array([[fx, 0, cx], [0, fy, cy], [0, 0, 1]])
depth_scale = 0.001
depth_mask = depth_image > 0
depth_image[depth_mask] = depth_image[depth_mask].astype(np.float32) * depth_scale
depth_point_cloud = cv2.rgbd.depthTo3d(depth_image, camera_matrix)

# 将点云投影到彩色图像上
color_point_cloud = cv2.rgbd.rgbdProjectPoints(depth_point_cloud, camera_matrix)

# 将投影后的点云与彩色图像进行对齐
color_aligned = cv2.remap(color_image, color_point_cloud[:, :, 0].astype(np.float32),
                          color_point_cloud[:, :, 1].astype(np.float32), cv2.INTER_LINEAR)