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1 | initial version |
The convert_pointcloud_to_image
node in pcl_ros does exactly what you're looking for.
2 | No.2 Revision |
3 | No.3 Revision |
The convert_pointcloud_to_image
node in pcl_ros does exactly what you're looking for.
Edit: The reason for that crash you're seeing is that you put in an unorganized point cloud (i.e., height = 1). The convert_pointcloud_to_image
node can only process organized point clouds. For example, this is how the data from an Asus Xtion looks like:
$ rostopic echo -n1 /camera/depth_registered/points | grep -v data
header:
seq: 0
stamp:
secs: 1445245860
nsecs: 100976221
frame_id: camera_rgb_optical_frame
height: 240
width: 320
fields:
-
name: x
offset: 0
count: 1
-
name: y
offset: 4
count: 1
-
name: z
offset: 8
count: 1
-
name: rgb
offset: 16
count: 1
is_bigendian: False
point_step: 32
row_step: 10240
is_dense: False
Notice that height !=1, which means this is an organized point cloud.