depth_scale parameter in point cloud creation seemingly has no effect

[a-hain]

Hi everyone,

I am creating a point cloud from a depth image acquired with a LiDAR sensor. While troubleshooting, I've however noticed that changing the depth_scale parameter changes absolutely nothing in my result, however realistic or absurd the value that I am setting. I can even set it to 0 with no effect (according to the docs, I don't think this should be possible since z = d / depth_scale) .

I am calling the function as follows:

points = o3d.geometry.PointCloud.create_from_depth_image(depthmap, intrinsics, depth_scale=0.0)

Does anyone know what may be the reason for this? Any help would be greatly appreciated!