How do i get the a PointCloud with Intensity from asus xtion?

asked 2015-10-15 08:02:57 -0500

TSchellien gravatar image


i am trying to implement a real-time depth based obstacle detection with a asus xtion camera. I want to use the pcl library ( ) for detecting and clustering. Now i am trying to get the example code to run . My problem is, that the clustering algorithm is based on the points intensity but i dont know how i can get the needed format from the camera. I am using the openni2 driver to run the camera. For this algorith i need the PointCloud format. I am subscribing on the /camera/depth_registered/points topic for getting the sensor_msg::PointCloud2. Then i am using pcl::fromROSMsg to get the PointTypeXYZI format, but the problem is that this topic does not have the intensity information.

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