PointCloudLibrary / PointCloudLibrary/pcl
pcl::RangeImage with intensity values
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- Dominant language
- C++
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Description
I'm trying to convert an unorganized pcl::PointCloud<pcl::PointXYZI> with dimension Nx4 (where each point is made up of x,y,z position and intensity data) into a pcl::RangeImage of dimension num_rows*num_cols*4 (i.e. each row and column of the image contains a "pixel" with (x,y,z) position data and intensity data).
Currently when using pcl::RangeImage with points of type pcl::PointXYZI, the intensity values are removed from the data, since each point in pcl::RangeImage is of type pcl::PointWithRange. Is there a way to keep the intensity data when converting the point cloud to a range image?
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Research direction
Start by inspecting pcl::RangeImage, pcl::PointCloudpcl::PointXYZI, and the pcl::PointWithRange representation involved in the conversion. Determine whether the range-image representation can retain intensity alongside position and range; done means converting an unorganized PointXYZI cloud without losing intensity data.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100