How to read Organised Pointclouds to maintain correspondance between image resolution and cloud width and height?

asked 2019-06-29 10:35:01 -0500

Kartik Paigwar gravatar image

I am reading the pcd file saved from Zed Camera into PCL point cloud. But I am not able to restore the relation between image point cloud height and width resolution. I am getting a cloud-> height as 1 always. I know this happens because some point in the 3D space are not valid hence I am missing them. Does anyone know how to restore the correspondence?

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Comments

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How are you saving the pcd files? I ask because a pcl::PointCloud with a height of 1 is not an organised cloud. However the ZED camera generates organised clouds so somewhere along the way it's being converted to an in structured cloud. If we can find and fix that then you won't have to try and convert an unstructured cloud to a structured one.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2019-06-29 12:33:27 -0500 )edit