Point Cloud Size Mismatch with Expected Dimensions

[Charley23]

I am trying to use the /camera/registered_depth/points topic to obtain the exact 3D coordinates for specific RGB pixels. I’m using the Orbbec 336L camera with a resolution of 1280x720, and I would expect the point cloud to have the same resolution, with NaN values for depths that weren't measured.

However, I am receiving PointCloud2 messages where the width is reported as 540072 (which seems to vary) and the height is 1.

Is this behavior expected, or is it an error?
If this is not an error, how can I match a specific RGB pixel with its corresponding point in the point cloud?

Thank you for your help!

[jjiszjj]

@Charley23 Hello,Thank you very much for your feedback.
1.Regarding the received PointCloud2 message, the width is reported as 540072 (seems to be different) and the height is 1, which is as expected, depending on the setting of the ordered_pc parameter

2.We have matched RGB pixels to their corresponding points in the point cloud,You can check whether the program in this part meets your expectations :

OrbbecSDK_ROS2/orbbec_camera/src/ob_camera_node.cpp

Line 1808 in 123731a

void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet> &frame_set) {