Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Get RGB pixel coordinate in depth cloud

asked 2011-10-10 21:09:20 -0600

PiccoloBuddha
11 ●2 ●2 ●3

updated 2016-10-24 09:02:59 -0600

ngrennan
1 ●1 ●1

Hi there! I'm using pcl point cloud to show depth information obtained with kinect. I'd like to identify rbg points (pixels) on the depth map (for example eye balls). How can i obtain real world coordinate (x,y,z) from the RGB pixel (u,v)? I've found this istructions:

cloud(right_eye.x,right_eye.y).x
cloud(right_eye.x,right_eye.y).y
cloud(right_eye.x,right_eye.y).z

where cloud is defined as:

pcl::PointCloud<pcl::PointXYZ> cloud

But the result is not correct, i mean rgb points are not fitted on the depth map.

edit retag flag offensive close merge delete

Comments

Hello, now i have the same problem. Would you help me to get the coordinate? Thank you :)

Karz ( 2015-09-10 08:34:49 -0600 )edit

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2011-10-10 23:08:18 -0600

Javier
408 ●10 ●15 ●24 http://blog.javiercorrea.cl/

If the pointcloud fromt he kinect is registered, then using the same index of the pixel in the images to access the pointcloud would give you the 3D position of that pixel.

You can check if the kinect driver is registered by running dynamic reconfigure: rosrun dynamic_reconfigure reconfigure_gui