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Hi luke,

To get RGB image from cloud data ,

   cv::Mat imageFrame;
if (cloud->isOrganized()) 
{
    imageFrame = cv::Mat(cloud->height, cloud->width, CV_8UC3); 
    {

        for (int h=0; h<imageFrame.rows; h++) 
        {
            for (int w=0; w<imageFrame.cols; w++) 
            {
                pcl::PointXYZRGBA point = cloud->at(w, h);

                Eigen::Vector3i rgb = point.getRGBVector3i();

                imageFrame.at<cv::Vec3b>(h,w)[0] = rgb[2];
                imageFrame.at<cv::Vec3b>(h,w)[1] = rgb[1];
                imageFrame.at<cv::Vec3b>(h,w)[2] = rgb[0];
            }
        }
    }
}

But first you might need to convert cloud data into pcl supported form, for this you can use,

pcl::PointCloud<pcl::pointxyzrgba>::Ptr cloud (new pcl::PointCloud<pcl::pointxyzrgba>);

pcl::fromROSMsg (*input, *cloud);

Once you get the image, you can apply your detection algorithm using opencv libs,

To get depth of point x,y in image

int i = x + y*cloud->width; float depth = (float)cloud->points[i].z;

Hope this helped :)