Numpy matrix of point cloud

[kankanzheli]

Hello everyone, I outputed the ptcloud as a numpy matrix(by ptcloud_np = np.array(ptcloud.get_data())). But the numpy matrix is (720,1280,4). What is the mean of the 4? It saved the RGB and depth data? Not save the x,y and z location data?

[Flocker]

Filter point cloud

HI, I would like to filter the point cloud generated by the ZED2. I saw that i can retrieve all from .get_data(), however it outputs me an np.array of (1080, 1920, 4). Can someone explain to me how it works ? Is it an image ? Also if i filter the point cloud, how can i get the associated pixel afterwards ? how are the point cloud registered to the pixels ? Before it was possible to do get_value(x,y) but once i filter the point cloud ill have a np.array object. how can I link the pixel ? T…