Hi @zore017
the point cloud information is arranged in a sl::Mat with size WxH.
Each “cell” with map coordinate (u,v) of the point cloud corresponds to the same pixel with coordinate (u,v) of the corresponding depth map and of the corresponding color image.
However, to convert a 3D point cloud pixel to the respective (u,v) image coordinate you can use the formulas reported in this support page:
When you press the space bar you must be sure that the camera is seeing a big portion of the floor to detect it.
When you hit ‘p’ you must be sure that the cross is pointing to a valid surface.
You can also click with the mouse to detect a surface in the point where you click.