converting DisparityImage message to PointCloud2
Hi,
I want to convert a DisparityImage
message to a PointCloud2
messages such that each pixel disparity value is now a x, y, z value of a point in space. The other information that comes as part of the DisparityImage
message are the focal length, max disparity and baseline. I know how to calculate the z value using them but I'm not sure what the equation is for x and y?
I was looking at this opencv function reprojectImageTo3D()
but that needs the Q
perspective transformation matrix. How should I calculate that?
Thank you