Match 3D pointclouds to RGB frames

asked 2020-11-17 03:48:22 -0500

Hi i am using SLAM for creating 3D pointcloud of environment with depth camera D455 I can create pointcloud and also save RGB and depth frames in rosbag file my question is that how can I match(link) these point clouds to RGB frames? i want to do object detection on point cloud then do the same action on related RGB I have to find a way that finds the RGB frames that are related to each point ( or match each 3d points in 2d pixels in RGB frames) is there any way to do that in ROS? or any other solution? thanks for your help

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