Convert Normals Point Cloud to Color Point Cloud

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Function

This Step converts a colorless point cloud with normals to a colored point cloud using a color image.

function description

Usage Scenario

This Step is usually used to view the status of colored point clouds in a simulated scene, or for other usage scenarios that require visualization of colored point clouds.

Input and Output

Input

Input port Data type Description

Original Point Cloud

PointCloud/XYZNormal

The colorless point cloud input to this port will be converted to a colored point cloud.

Color Image

Image/Color

2D color image used to colorize the point cloud.

Output

Output port Data type Description

Colored Point Cloud

PointCloud/XYZRGB

Colored point cloud.

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