Hello everyone,

I'm working with the RealSense D435 Camera and ROS. The aim of my work is to detect tags using the ARTrackAlvar library.

When using the command

roslaunch realsense2camera rsrgbd.launch

The detection is working correctly but with a delay of more or less 0.5s.

For trying to solve this delay problem, as it seems to come from the processing of the rs_rgbd process, I wanted to use directly the pointCloud information given by

roslaunch realsense2camera rscamera.launch filters:=pointcloud

The problem comes using this previous command.

I have realized that the ros mesage given to the ARTrackAlvar node, so in fact the image provided by the camera node to the ARTrackAlvar node, it is not in the dimensions defined in the rs_camera.launch file. It is in fact a image (so a message) of

msgpointcloud.width = numvalid_points;

msg_pointcloud.height = 1;

As the image seen by the ARTrackAlvar is an image of numvalidpoints x 1 it is not able to detect any Tag.

I would like to know how obtain the same type of images, so the same type of messages, using rsrgbd.launch and using rscamera.launch filters:=pointcloud . Any idea ?

Thank you !