How to extract point cloud data and arrange it according to the format (height * width) of the image?

[Myzhar]

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How to extract point cloud data according to image format？

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 flo…