import numpy as np
import open3d as o3d

def point_cloud(image, dp_image):

    width, height = image.size

    depth_image = (dp_image * 255 / np.max(dp_image)).astype('uint8')
    image = np.array(image)

    depth_o3d = o3d.geometry.Image(depth_image)
    image_o3d = o3d.geometry.Image(image)
    rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(image_o3d, depth_o3d, convert_rgb_to_intensity=False)

    camera_intrinsic = o3d.camera.PinholeCameraIntrinsic()
    camera_intrinsic.set_intrinsics(width, height, 500, 500, width/2, height/2)

    pcd = o3d.geometry.PointCloud.create_from_rgbd_image(rgbd_image, camera_intrinsic)
    o3d.io.write_point_cloud("output_donut.ply", pcd)
    return pcd