fix projection of point cloud with no positions attribute to image

CHANGELOG.md

@@ -39,6 +39,7 @@
 - Fix segmentation fault (infinite recursion) of DetectPlanarPatches if multiple points have same coordinates (PR #6794)
 - Fix build with fmt v10.2.0 (#6783)
 - Fix segmentation fault (lambda reference capture) of VisualizerWithCustomAnimation::Play (PR #6804)
+- Fix projection of point cloud to Depth/RGBD image if no position attribute is provided (PR #6880)
 
 ## 0.13
 

cpp/open3d/t/geometry/PointCloud.cpp

@@ -983,6 +983,12 @@ geometry::Image PointCloud::ProjectToDepthImage(int width,
  const core::Tensor &extrinsics,
  float depth_scale,
  float depth_max) {
+ if (!HasPointPositions()) {
+ utility::LogWarning(
+ "Called ProjectToDepthImage on a point cloud with no Positions "
+ "attribute. Returning empty image.");
+ return geometry::Image();
+ }
  core::AssertTensorShape(intrinsics, {3, 3});
  core::AssertTensorShape(extrinsics, {4, 4});
 
@@ -1001,6 +1007,12 @@ geometry::RGBDImage PointCloud::ProjectToRGBDImage(
  const core::Tensor &extrinsics,
  float depth_scale,
  float depth_max) {
+ if (!HasPointPositions()) {
+ utility::LogWarning(
+ "Called ProjectToRGBDImage on a point cloud with no Positions "
+ "attribute. Returning empty image.");
+ return geometry::RGBDImage();
+ }
  if (!HasPointColors()) {
  utility::LogError(
  "Unable to project to RGBD without the Color attribute in the "