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how does colorized point clouds work?

asked 2019-10-01 12:44:49 -0500

2ROS0

1133 ●70 ●89 ●102

updated 2019-10-01 12:45:15 -0500

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.

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