What is the principle of obtaining point cloud information in zed_ROS? I just know that there is a point cloud topic in the zed_ROS package, and subscribing to this topic allows for a series of point cloud operations. So, how does the principle of obtaining binocular point clouds come about? Please help me introduce it. thank you!
Hi @zhangYQHBAU
the point cloud is generated by the ZED SDK and published by the ZED Wrapper.
The ZED nodes do not generate the point cloud they only copy the ZED SDK data into ROS topics.
The mathematics behind point cloud generation is available on this support page.
Next, I would like to further inquire about the formula below,
Z = depth value of the pixel (u,v) from the depth map
What formula is used to obtain the corresponding depth value from pixel coordinates? Or what principle is it?
It’s not a formula. You must retrieve the pixel value
What’s the meaning of this? Can you explain it specifically? I am very curious about how to obtain depth values and also want to understand this principle
Each pixel of the depth map contains a value that corresponds to the depth measure of that pixel.
How to obtain that value depends on what you are using.
Are you getting the depth map from ROS or from the ZED SDK?