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If you have the depth image already... why don't you just use that, and then calculate the X and Y coordinates yourself from the camera parameters.
X = (columns from center) * depth / focal_length Y = (rows from center) * depth / focal_length
You can either store the camera focal length in your program, or retrieve it from the /camera_info topic.
| | 2 | No.2 Revision |
If you have the depth image already... why don't you just use that, and then calculate the X and Y coordinates yourself from the camera parameters.
X = (columns from center) * depth / focal_length
focal_length
Y = (rows from center) * depth / focal_length
You can either store the camera focal length in your program, or retrieve it from the /camera_info topic.
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