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Get RGB pixel coordinate in depth cloud

asked 2011-10-10 21:09:20 -0500

PiccoloBuddha
11 ●2 ●2 ●3

updated 2016-10-24 09:02:59 -0500

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.

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

Karz ( 2015-09-10 08:34:49 -0500 )edit

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1 Answer

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answered 2011-10-10 23:08:18 -0500

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