How to get high quality image views of large 3d points cloud?

[zzh8241102]

Hi Open3d community, thrilled to kick off my journey with this wonderful framework!

I have some trouble regarding using the apis, and here's my demand:

I am working with outdoor point clouds from large-scale scenes, which contain numerous areas. I would like some advice in the following areas:

• A recommended API combination (or method) for capturing high-quality point cloud images.
• A recommended approach for selecting the angle and position of the camera within the scene.
• A recommended method for controlling the center point of the point cloud and related coordinate calculations.

---

I tried the following code but the image's quality is unsatisfied

import open3d as o3d
import numpy as np

def capture_image_from_above(pcd_path, image_path):
    pcd = o3d.io.read_point_cloud(pcd_path)
    vis = o3d.visualization.Visualizer()
    vis.create_window(visible=False)  
    vis.add_geometry(pcd)
    ctr = vis.get_view_control()
    cam_params = ctr.convert_to_pinhole_camera_parameters()

    ### compute bounding box
    bounding_box = pcd.get_axis_aligned_bounding_box()
    center = bounding_box.get_center()
    extent = bounding_box.get_extent()

    # set camera position
    cam_params.extrinsic = np.array([[1, 0, 0, 0],
                                     [0, 1, 0, 0],
                                     [0, 0, 1, center[2] + max(extent) * 1.5],  
                                     [0, 0, 0, 1]])

    ctr.convert_from_pinhole_camera_parameters(cam_params)

    
    vis.update_geometry(pcd)
    vis.poll_events()
    vis.update_renderer()

    vis.capture_screen_image(image_path, do_render=True)

    vis.destroy_window()

Any ideas or advices will be truly appreciated. Thanks in advance.