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To expand on what Felix said:

The assumption is that there is a 1 to 1 mapping in the cloud message that came in. So, any projection would have been done beforehand in arranging the incoming message.

Using that assumptoin then, they have the same number of points and are in the same order, so the same index can be used.

To expand on what Felix said:

The assumption is that there is a 1 to 1 mapping in the cloud message that came in. So, any projection would have been done beforehand in arranging the incoming message.

Using that assumptoin assumption then, they have the same number of points and are in the same order, so the same index can be used.

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Expand to include link to produce conditions in assumption

To expand on what Felix said:

The assumption is that there is a 1 to 1 mapping in the cloud message that came in. So, any projection would have been done beforehand in arranging the incoming message.

Using that assumption then, they have the same number of points and are in the same order, so the same index can be used.

If you are producing the point cloud in the first place and need to pack the message, you can use the camera parameters and libeigen though I don't know if that would be any faster than the opencv method you were using.