PointCloudToUnorganizedPointCloud Method

Return Value

Type: UnorganizedPointCloud

The PointCloud class represents an organized point cloud, meaning that it contains 3D data for every pixel (row, col) on the sensor. If 3D data could not be computed for a given pixel, or was removed by a filter, that pixel contains (x,y,z) = (NaN, NaN, NaN) representing an "invalid" point. For some use cases it is more useful to have an unorganized point cloud, which instead contains a linear list of only valid points. This function efficiently picks out the valid (not-NaN) points from this structured point cloud, and constructs an unorganized point cloud containing the XYZ, Color and SNR from those points only. The resulting unorganized point cloud will have less than (or equal) memory footprint compared to the structured point cloud it comes from, since it will contain fewer (or equal) number of points. See UnorganizedPointCloud for more information on how to use the return value.