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Projection of laser scan to image plane

asked 2016-06-05 04:00:49 -0500

horczech gravatar image

I have a laser scan data and camera image. I need to find out the possition of each laser measurement on the image plane. To do that I transformed the laser data ( giving me angle and distance ) to sensor_msgs::Pointcloud2. Now I want to use function cv::projectPoints(...) to project the measured points into the image plane.

My problem is that input format of input pointcloud is 3xN/Nx3 1-channel or 1xN/Nx1 3-channel (or vector<point3f> ). The format of points in Pointcloud2 is usigned char.

How can I do that? I dont even know how to acces the x,y,z coordinates in my cloud.

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answered 2022-12-21 08:54:03 -0500

zonie gravatar image

DId you get a solution to that? I also want to do this

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Asked: 2016-06-05 04:00:49 -0500

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Last updated: Jun 05 '16