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How to publish pointcloud from ROS as pointxyzi pointcloud type #1386
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Hi @sonumathur The only librealsense ROS GitHub case involving obtaining a point cloud with intensity information that I know of is in the link below. There was a research dissertation using RealSense and ROS that used PCL to convert the pointcloud2 message into an XYZI point cloud. The bottom of page 29 of the document provides details of this. https://lib.ugent.be/fulltxt/RUG01/002/785/837/RUG01-002785837_2019_0001_AC.pdf |
Hi @sonumathur Do you still require assistance with this case, please? Thanks! |
Hi @MartyG-RealSense . Thanks for query. I have see a page on web at: Installed jsk_pcl_ros_utils in ROS but but not understand how to load that code. Thanks |
Hi @MartyG-RealSense, I have One query about a Documentation at link: http://docs.ros.org/melodic/api/librealsense2/html/files.html At this link various Function and files that are part of Realsense2 are provided. My problum can be solved by changing the senser msg types given at: http://docs.ros.org/melodic/api/librealsense2/html/point__field__conversion_8h_source.html As
#ifndef SENSOR_MSGS_POINT_FIELD_CONVERSION_H namespace sensor_msgs{ template struct typeAsPointFieldType {}; template<int point_field_type, typename T> template template<int point_field_type, typename T> template #endif /* point_field_conversion.h */ I think are related to output type msg type from ros How I can change the these types as given in: |
I could not find any librealsense references related to jsk_pcl_ros_utils. If you are aiming to generate an xyzrgb point cloud through RealSense ROS, I wonder if it may be easier to use depth_image_proc/point_cloud_xyzrgb. http://wiki.ros.org/depth_image_proc#depth_image_proc.2Fpoint_cloud_xyzrgb I note though that you wanted an xyzrgbi cloud with intensity information, as discussed earlier in this discussion in #1386 (comment) Regarding your question about whether the sensor msgs highlighted in red above can have their type changed, I will refer that question to @doronhi the RealSense ROs wrapper developer. |
Hi @sonumathur Do you still require assistance with this case, please? Thanks! |
Case closed due to no further comments received. |
There are following type of points in pointcloud data as in image:
![pcl_intro_1](https://user-images.githubusercontent.com/60248559/93173874-c69c6400-f74a-11ea-9208-1846fa76c525.jpg)
Using Realsense D435 in ROS i want to produce PointXYZI pointcloud.
I run following Commands as:
rosrun rviz rviz
roslaunch realsense_ros_camera rs_rgbd.launch
rosrun pcl_ros pointcloud_to_pcd input:=/camera/depth_registered/points
under the topic /camera/depth_registered/points pointcloud produced is PointXYZRGB pointcloud.
How i can produce PointXYZI pointclud using D345.....?
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