how does colorized point clouds work?

Hi,

In the case of a stereo camera running stereo_image_proc, it returns a colorized pointcloud in the points2 topic.

How does the colorization of the points work? Once you get the stereo match and the disparity, that gives you the XYZ of the point, but does it take color from the left imager, right imager, average of both?

Thank you.

Asked by 2ROS0 on 2019-10-01 12:44:49 UTC

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Answers

As they are matched the use to bee the same. If not you may need color calibration for you cameras.

But it is the left Camera as it is the origin of the pointcloud

Asked by duck-development on 2019-10-01 12:55:29 UTC

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They match because that's the best match in the search range. That doesn't mean they have the exact same value.

Asked by 2ROS0 on 2019-10-01 13:12:32 UTC

So, just the color value from the left camera is used and corresponding right camera color value is ignored?

Asked by 2ROS0 on 2019-10-01 13:13:52 UTC