1. If you want to associate points in the 3D cloud with real pixels in the image, look at the points2 message (of type PointCloud2) that stereo_image_proc publishes. The points in the points2 message are arranged in an array that corresponds to the original image array, so points[x][y] corresponds to image[x][y].

2. If you want to project a new point in space onto the image, look at the image_geometry package (http://www.ros.org/wiki/image_geometry).

On Fri, Oct 8, 2010 at 2:34 AM, Bera, D. <d.bera@tue.nl> wrote:

Dear all,

At this moment, we are working with a standard Videre stereo camera and make use of standard nodes available from ROS repositories to publish a dense point cloud (stereo_image_proc: node). �It would be of great help if we could have some suggestions on how to correlate a point on a 2D stereo images to a 3D point in a point cloud? Do we need to make a new node to perform this operation? What would be its feasibility, accuracy?

Thanks and Regards,
Debjyoti Bera.
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