点云怎么和rgb图对齐

orbbec / ros_astra_camera

ROS wrapper for Astra camera

Apache License 2.0

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Open ThinkPig826 opened 2 years ago

ThinkPig826 commented 2 years ago

你好，请教一下，640*480的rgb图如何与/camera_01/depth/points话题中的点云对齐的，我知道像素位置，如何算出像素对应的点云呢？谢谢！

jian-dong commented 2 years ago

您好，这里有另外一个topic是RGB对其的，/camera_01/depth_registered/points，需要开启硬件对其开关，在launch文件里面

  <arg name="depth_registration" default="true" />