PCL color points with image

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PCL color points with image

cesmak
Hey there,

I would like to generate a colored pcd file. What I currently have is a non
colored 640x480 pointcloud and an rgb 640x480 image as cv::Mat.

Is there a pcl method to create a colored Point Cloud (  
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr )
with this 2 inputs?

Best,
Markus


PS: What I actually wanna do is get this code

 http://pointclouds.org/documentation/tutorials/tracking.php

To run. But therefore I need a colored point cloud, cause I guess this
particle tracking works with colored particles or? and not with non colored
ones?!

Best
Markus



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