如何在Open3d中转换摄像头

import open3d as o3d
import numpy as np
import cv2

vis = o3d.visualization.Visualizer()
vis.create_window()

cap = cv2.VideoCapture(0)

while True:
    ret, frame = cap.read()
    if not ret:
        break

    # 将OpenCV图像转换为Open3D图像
    img_o3d = o3d.geometry.Image(frame)

    # 创建Open3D RGBD图像
    rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(
        img_o3d, depth, depth_scale=1000.0, depth_trunc=3.0, convert_rgb_to_intensity=False)

    # 创建Open3D点云
    pcd = o3d.geometry.PointCloud.create_from_rgbd_image(
        rgbd, o3d.camera.PinholeCameraIntrinsic(o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault))

    # 更新Open3D窗口
    vis.update_geometry(pcd)
    vis.poll_events()
    vis.update_renderer()

    # 按下Esc键退出循环
    if cv2.waitKey(1) == 27:
        break

cap.release()
vis.destroy_window()