| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Hi, i'm currently working on a single line ladar which we've managed to transform into a point cloud via rviz so now i want to add some rgb data from a camera onto this point cloud.
assuming i have worked out which pixel to add to which point cloud point, is it possible to do this?
thanks
*edit:
im using pointcloud and not pointcloud2 at the moment
yes it is possible and quit common. Just check this link and you will find a description of the data type PointCloud2.
I think that PointCloud2 type is not that super easy to use. I'd suggest you to go over the pcl::PointCloud<pcl::pointxyzrgb> cloud and then convert pcl point cloud back to PointCloud2 using pcl::toROSMsg() method as suggested here: http://www.pcl-users.org/Combine-sensor-msgs-PointCloud2-msg-rgb-sensor-msgs-Image-into-a-properly-colored-PointCloud2-td2814133.html.
Also if it is true that sensor_msg::PointCloud is easier to understand, it is still not any longer standard. PointCloud2 is the current standard in ROS. To use the PCL is of course an option, but it takes more load and computational power if you need to convert a lot in between ROS and PCL.
Asked: 2012-09-18 06:24:16 -0500
Seen: 6,329 times
Last updated: Sep 20 '12
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
thanks for the answer, but we're currently using pointcloud 1, is it still possible to do this?
Yes, by using the channels, but I'd recommed switching to pointcoud2, if possible.
thanks, i'll do that in that case