Made it work for iPhone 12 Pro.

ipad_stream.py

@@ -7,14 +7,14 @@
 import copy
 import numpy as np
 import open3d as o3d
+import cv2
 from record3d import Record3DStream
 from threading import Event
 
 class DemoApp:
-    def __init__(self, rot=False):
+    def __init__(self):
         self.event = Event()
         self.session = None
-        self.rot = rot
         self.vis = o3d.visualization.Visualizer()
         self.vis.create_window()
 
@@ -49,49 +49,38 @@ def get_intrinsic_mat_from_coeffs(self, coeffs):
                          [        0, coeffs.fy, coeffs.ty],
                          [        0,         0,         1]])
 
+    def create_point_cloud(self):
+        depth = self.session.get_depth_frame()
+        rgb = cv2.resize(self.session.get_rgb_frame(), np.flip(np.shape(depth)))
+        rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(o3d.geometry.Image(rgb),
+                                                                  o3d.geometry.Image(depth),
+                                                                  convert_rgb_to_intensity=False)
+        return o3d.geometry.PointCloud.create_from_rgbd_image(rgbd, self.intrinsic)
 
     def start_processing_stream(self):
         self.event.wait()  # Wait for new frame to arrive
-        depth = self.session.get_depth_frame()
-        rgb = self.session.get_rgb_frame()
 
         # get intrinsic parameters
         intrinsic_mat = self.get_intrinsic_mat_from_coeffs(self.session.get_intrinsic_mat())
-        self.rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(o3d.geometry.Image(np.array(rgb)), o3d.geometry.Image(np.array(depth, order="c")), convert_rgb_to_intensity=False)
-
+
         # setup point clouds
         # lidar depth map = 256x192
         # intrinsics work well divided by 4 than the given value from record3d
-        intrinsic = o3d.camera.PinholeCameraIntrinsic(256, 192, intrinsic_mat[0,0]/4, intrinsic_mat[1,1]/4, intrinsic_mat[0,2]/4, intrinsic_mat[1,2]/4)
-        pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
-            self.rgbd,
-            intrinsic)
-        self.pcd = pcd
+        self.intrinsic = o3d.camera.PinholeCameraIntrinsic(*np.shape(self.session.get_depth_frame()),
+                                                           intrinsic_mat[0,0]/4,
+                                                           intrinsic_mat[1,1]/4,
+                                                           intrinsic_mat[0,2]/4,
+                                                           intrinsic_mat[1,2]/4)
+        self.pcd = self.create_point_cloud()
         # add geometry
         self.vis.add_geometry(self.pcd)
 
         # Loop for point clouds
         while True:
-            self.event.wait()  # Wait for new frame to arrive    
-            # Copy the newly arrived RGBD frame
-            depth = self.session.get_depth_frame()
-            rgb = self.session.get_rgb_frame()
-
-            # store
-            if self.rot:
-                self.rgb = np.rot90(rgb)
-                self.depth = np.rot90(depth)
-            else:
-                self.rgb = rgb
-                self.depth = depth
-
-
-            self.rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(o3d.geometry.Image(np.array(self.rgb)), o3d.geometry.Image(np.array(self.depth, order="c")), convert_rgb_to_intensity=False)
-
+            self.event.wait()  # Wait for new frame to arrive
+
             # update pointclouds
-            pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
-                self.rgbd,
-                intrinsic)
+            pcd = self.create_point_cloud()
             self.pcd.points = pcd.points
             self.pcd.colors = pcd.colors
 
@@ -104,6 +93,6 @@ def start_processing_stream(self):
             self.event.clear()
 
 if __name__ == '__main__':
-    getter = DemoApp(False)
+    getter = DemoApp()
     getter.connect_to_device(dev_idx=0)
     getter.start_processing_stream()

requirements.txt

@@ -1,2 +1,3 @@
 open3d
-record3d
+record3d
+opencv-python