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Published 20 hours ago • verified publisher icon ros-perception

Organize point cloud

Open Jaetriel opened this issue 3 years ago • 1 comments

Hey, so I've got a point cloud of type PointCloudXYZI::Ptr from a lidar only, which then gets converted to a sensor_msgs::PointCloud2, but it's unorganized. My goal would be to be able to use the existing convert_point_cloud_to_image node to get an image topic but I am not sure how to organize the point cloud. Are there existing methods to do that or would I have to write my own?

Jaetriel avatar Sep 27 '21 15:09 Jaetriel

Have you solved? Does your Lidar provides points in a matrix form (i.e. ordered as pixels, such that there is a corresponding pinhole camera model or a CameraInfo message available)?

roncapat avatar Dec 04 '23 11:12 roncapat