How to render a depth image?

[DAFS12]

Hi, i am new in the Open3D world. I need to render a point cloud in a depth image, I have been reviewing and modifying the codes in the examples but it doesn't work for me, it just sends me to a 1x1 image with one channel. Could you help me?

This is the code:

**import numpy as np
import open3d as o3d

import open3d.visualization.rendering as rendering
import open3d.visualization.gui as gui

vis = o3d.visualization.Visualizer()

def imagen(depth):
print("Depth Image: ",depth)

app = gui.Application.instance
app.initialize()

nube="point_cloud_100_80_26.pcd"

pcd = o3d.io.read_point_cloud(nube)

vetana = app.create_window("Prueba ventana", 1280, 720)
#pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])

widget3d = gui.SceneWidget()
vetana.add_child(widget3d)

widget3d.scene = rendering.Open3DScene(vetana.renderer)
name = vetana.title
print('Nombre',name)

mat = rendering.MaterialRecord()
mat.shader = "defaultUnlit"

Escalizar a la ventana

mat.point_size = 3 * vetana.scaling

widget3d.scene.add_geometry("Point Cloud", pcd, mat)

Configurar camara, Rota la nube de puntos

bounds = widget3d.scene.bounding_box
center = bounds.get_center()
widget3d.setup_camera(20, bounds, center)
widget3d.look_at(center, center - [0, 0, 3], [0, -1, 0])

vis.poll_events()
vis.update_renderer()

widget3d.rendering.render_to_depth_image(imagen)
#print("Depth_Image",depth)

app.run()**

[damavand1]

can it help you ?

`
import open3d as o3d

print("Read Redwood dataset")
color_raw = o3d.io.read_image(
"c:\.jpg")

depth_raw = o3d.io.read_image(
"c:\0000000004.png")
rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(
color_raw, depth_raw, convert_rgb_to_intensity=False)

pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
rgbd_image,
o3d.camera.PinholeCameraIntrinsic(
o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))

pcd.transform([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])

downpcd = pcd.voxel_down_sample(voxel_size=0.05)

o3d.visualization.draw_geometries([pcd])

`