tonirv/ros_pointcloud_recolor

Subscribes to a pointcloud topic and recolors it given a registered 2D image with the pointcloud.

ros_pointcloud_recolor's Issues

Sparse pointcloud not supported?

Hi Toni,

I see in your code that you resize the image to match the pointcloud if they have a different size.
I have a sparse point cloud as an input to the pointcloud_recolor node. So my pointcloud is 1d and its size is smaller than my image. Even though, it doesn't crash, I believe the code doesn't support a sparse pointcloud yet. Could you confirm?

A little bit down further in the code, the "is_dense" is set to false to account for the invalid points. What is the reason to have set it to false in the case of a dense point cloud?

Sorry, I have some knowledge gap. Thank you for your help :)

ROS_pointcloud_recolor/src/pointcloud_recolor.cpp

Lines 86 to 103 in 9984acd

	// Check that sizes agree, aka that the pointcloud given is ordered
	if (image_msg.cols != pointcloud->width ||
	image_msg.rows != pointcloud->height) {
	ROS_WARN_STREAM("Pointcloud width does not match with image width. "
	"The pointcloud is assumed to be ordered.\n"
	"image.width =" << image_msg.cols << '\n' <<
	"image.height =" << image_msg.rows <<'\n'<<
	"pointcloud.width =" << pointcloud->width <<'\n'<<
	"pointcloud.height =" << pointcloud->height <<'\n'<<
	"But should have Width Image == Width pointcloud && "
	"Height Image == Height pointcloud.\n"
	"RESIZING IMAGE INSTEAD.");
	cv::resize(color, color,
	cv::Size(pointcloud->width, pointcloud->height),
	0, 0, CV_INTER_LINEAR);
	}
	CHECK(color.cols == pointcloud->width &&
	color.rows == pointcloud->height);