Converting PointCloud2 into XYZ co-ordinates
Hello Community,
I am new to ROS. I am using Asus Xtion Pro Live (Depth Camera) with Raspberry Pi4 and ROS Melodic. I used Opneni2_launch package form ROS to integrate the depth camera on raspberry Pi. i am able to see the pointclouds and depth image in RVIZ.
Now I want to extract the XYZ co-ordinates from the PointCloud2 message. Especially, I want to know how many points corresponds to the black/invalid part of the depth image. I am using python to achieve this. how can i get the xyz coordinates?
Hello,
I am trying to detect calculate the valid and invalid points in a depth image. My idea is that the points with depth lesser than 50cm can be classified as invalid (the black pixels in the depth image). Has anyone tried this or achieved this?