Pointcloud is a collection of 3D object coordinate systems in 3D scene. Generally, point data in pointclouds represent the outer surface of an object. It is widely used in 3D reconstruction applications in various fields. When obtaining pointcloud data from RGB-D images, if part of the information in the RGB-D images is lost or damaged, the pointcloud data will be hollow or too sparse. Moreover, it is not conducive to the subsequent application of pointcloud data. Based on the boundary of the region to be repaired, we proposes to repair the damaged image and synthesize the complete pointcloud data after a series of preprocessing steps related to the image. Experiments show that the our method can effectively improve the restoration of the lost details of the pixel in the target area and that it will have the fuller pointcloud data after synthesizing the restored image.
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