How to find image pixel corresponding point in the point cloud.

mannem

I have a color image, corresponding point cloud captured by oak-D camera(see the image below) and i want to get the information of pixels in the color image and corresponding point cloud value in point cloud. how can i get this information? for instance, i have a pixel value (200,250) in the color image and how to know the corresponding point value in the point cloud? any help would be appreciated.

mannem

mannem Is there someone who can help me or guide me in the right direction?
thank you.

erik

Hi mannem ,
If you enable rgb-depth alignment, your 200,250 rgb pixel will directly corolate to 200,250 depth pixel (and 3d point). I hope this helps!
Thanks, Erik

mannem

erik Thank you and sorry for the late reply. how can i enable in rgb-depth alignment? can you tell me where exactly i do need to change the code.

erik

Hi mannem

stereo.setDepthAlign(dai.CameraBoardSocket.RGB)

mannem

erik I know this is dumb. if i want to get one pixel value in color image and and their corresponding point cloud value. do i have to mention width and height like this. stereo.setOutputSize(width, height). please help

erik

mannem No, depth will get scaled to the color image, so no need to set anything.
Thanks, Erik

mannem

erik thanks erik if i have any questions i will ask you. have a good day 🙂

mannem

Hello erik. Thanks again. Kindly understand my question . i have a color image and their corresponding point cloud data see the image below. i want to know pixel value and their corresponding point cloud value. how can i able to know which pixel belongs to what point in point cloud. how this point cloud is arranged?

erik

Hi mannem ,

. how this point cloud is arranged?

Depends how you have converted the depth->pointcloud. Eg see here how it's likely arranged (if you haven't done any manipulation. Perhaps it's also in-place and has width/height exactly the same as the rgb frame.
Thanks, Erik