[ros-users] How do I get 2D depth map from 3D point cloud?

Radu Bogdan Rusu rusu at willowgarage.com
Fri May 21 23:04:31 UTC 2010

On 05/21/2010 03:41 PM, Patrick Mihelich wrote:
> On Wed, May 19, 2010 at 1:01 AM, Chriss Lei <lei.chriss at gmail.com
> <mailto:lei.chriss at gmail.com>> wrote:
>     I understand I get 3D point cloud from stereo_image_proc with
>     respect to left imager optical frame.
>     Now, I'm interested in getting 2D depth map with pixel values set
>     equal to depth of the point cloud. (No. I do NOT want disparity map.)
> Radu's suggestion (just pull Z out of the point cloud) is very simple.
> The only complication is that sensor_msgs/PointCloud doesn't store the
> points in 2d image layout, so you'll also have to look up the pixel
> coordinates in the "channels" field.

Ahh, my bad, I was assuming that Chriss was using PointCloud2 :)

| Radu Bogdan Rusu | http://rbrusu.com/

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