fix

utils.py

@@ -92,8 +92,10 @@ def create_3d_pc(rgb_image, depth_image, depth=10):
 
 
 def point_cloud(rgb_image, depth_image):
-    # Step 2: Create an RGBD image from the RGB and depth images
-    rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(rgb_image, depth_image, convert_rgb_to_intensity=False)
+    # Step 2: Create an RGBD image from the RGB and depth image
+    depth_o3d = o3d.geometry.Image(depth_image)
+    image_o3d = o3d.geometry.Image(rgb_image)
+    rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(image_o3d, depth_o3d, convert_rgb_to_intensity=False)
     # Step 3: Create a PointCloud from the RGBD image
     pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd_image, o3d.camera.PinholeCameraIntrinsic(o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))
     # Step 4: Convert PointCloud data to a NumPy array