How to publish pointcloud from ROS as pointxyzi pointcloud type

[sonumathur]

There are following type of points in pointcloud data as in image:

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.....?

[MartyG-RealSense]

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.

#1046

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

[MartyG-RealSense]

Hi @sonumathur Do you still require assistance with this case, please? Thanks!

[sonumathur]

Hi @MartyG-RealSense . Thanks for query.

I have see a page on web at:

http://docs.ros.org/indigo/api/jsk_pcl_ros_utils/html/classjsk__pcl__ros__utils_1_1PointCloudXYZRGBToXYZ.html

Installed jsk_pcl_ros_utils in ROS but but not understand how to load that code.

Thanks

[sonumathur]

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
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• point_field_conversion.h
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#ifndef SENSOR_MSGS_POINT_FIELD_CONVERSION_H
#define SENSOR_MSGS_POINT_FIELD_CONVERSION_H

namespace sensor_msgs{
template struct pointFieldTypeAsType {};
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::INT8> { typedef int8_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::UINT8> { typedef uint8_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::INT16> { typedef int16_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::UINT16> { typedef uint16_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::INT32> { typedef int32_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::UINT32> { typedef uint32_t type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::FLOAT32> { typedef float type; };
template<> struct pointFieldTypeAsType<sensor_msgs::PointField::FLOAT64> { typedef double type; };

template struct typeAsPointFieldType {};
template<> struct typeAsPointFieldType<int8_t> { static const uint8_t value = sensor_msgs::PointField::INT8; };
template<> struct typeAsPointFieldType<uint8_t> { static const uint8_t value = sensor_msgs::PointField::UINT8; };
template<> struct typeAsPointFieldType<int16_t> { static const uint8_t value = sensor_msgs::PointField::INT16; };
template<> struct typeAsPointFieldType<uint16_t> { static const uint8_t value = sensor_msgs::PointField::UINT16; };
template<> struct typeAsPointFieldType<int32_t> { static const uint8_t value = sensor_msgs::PointField::INT32; };
template<> struct typeAsPointFieldType<uint32_t> { static const uint8_t value = sensor_msgs::PointField::UINT32; };
template<> struct typeAsPointFieldType { static const uint8_t value = sensor_msgs::PointField::FLOAT32; };
template<> struct typeAsPointFieldType { static const uint8_t value = sensor_msgs::PointField::FLOAT64; };

template<int point_field_type, typename T>
inline T readPointCloud2BufferValue(const unsigned char* data_ptr){
typedef typename pointFieldTypeAsType<point_field_type>::type type;
return static_cast(*(reinterpret_cast<type const *>(data_ptr)));
}

template
inline T readPointCloud2BufferValue(const unsigned char* data_ptr, const unsigned char datatype){
switch(datatype){
case sensor_msgs::PointField::INT8:
return readPointCloud2BufferValue<sensor_msgs::PointField::INT8, T>(data_ptr);
case sensor_msgs::PointField::UINT8:
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT8, T>(data_ptr);
case sensor_msgs::PointField::INT16:
return readPointCloud2BufferValue<sensor_msgs::PointField::INT16, T>(data_ptr);
case sensor_msgs::PointField::UINT16:
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT16, T>(data_ptr);
case sensor_msgs::PointField::INT32:
return readPointCloud2BufferValue<sensor_msgs::PointField::INT32, T>(data_ptr);
case sensor_msgs::PointField::UINT32:
return readPointCloud2BufferValue<sensor_msgs::PointField::UINT32, T>(data_ptr);
case sensor_msgs::PointField::FLOAT32:
return readPointCloud2BufferValue<sensor_msgs::PointField::FLOAT32, T>(data_ptr);
case sensor_msgs::PointField::FLOAT64:
return readPointCloud2BufferValue<sensor_msgs::PointField::FLOAT64, T>(data_ptr);
}
}

template<int point_field_type, typename T>
inline void writePointCloud2BufferValue(unsigned char* data_ptr, T value){
typedef typename pointFieldTypeAsType<point_field_type>::type type;
(reinterpret_cast<type>(data_ptr)) = static_cast(value);
}

template
inline void writePointCloud2BufferValue(unsigned char* data_ptr, const unsigned char datatype, T value){
switch(datatype){
case sensor_msgs::PointField::INT8:
writePointCloud2BufferValue<sensor_msgs::PointField::INT8, T>(data_ptr, value);
break;
case sensor_msgs::PointField::UINT8:
writePointCloud2BufferValue<sensor_msgs::PointField::UINT8, T>(data_ptr, value);
break;
case sensor_msgs::PointField::INT16:
writePointCloud2BufferValue<sensor_msgs::PointField::INT16, T>(data_ptr, value);
break;
case sensor_msgs::PointField::UINT16:
writePointCloud2BufferValue<sensor_msgs::PointField::UINT16, T>(data_ptr, value);
break;
case sensor_msgs::PointField::INT32:
writePointCloud2BufferValue<sensor_msgs::PointField::INT32, T>(data_ptr, value);
break;
case sensor_msgs::PointField::UINT32:
writePointCloud2BufferValue<sensor_msgs::PointField::UINT32, T>(data_ptr, value);
break;
case sensor_msgs::PointField::FLOAT32:
writePointCloud2BufferValue<sensor_msgs::PointField::FLOAT32, T>(data_ptr, value);
break;
case sensor_msgs::PointField::FLOAT64:
writePointCloud2BufferValue<sensor_msgs::PointField::FLOAT64, T>(data_ptr, value);
break;
}
}
}

#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:

[MartyG-RealSense]

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

#277 (comment)

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.

[MartyG-RealSense]

Hi @sonumathur Do you still require assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.