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Hi,
The Sensormsg Image contains its data as a blob. I am wondering how to acquire the XYZ and RGB values of each pixel of the image data(depth image and color image respectively).
I am using an Intel Realsense D435 using ROS Kinetic
Can somebody please help?
You'll want to use the depth image proc package this can subscribe to the registered color and depth images from the camera and combine them into a color point cloud message (XYZRGB).
You very rarely have to deal with blob data in messages directly, there are a range of converters and methods built into ROS allowing you to access the formatted data directly. Hope this gets you moving in the right direction.
Hi, thanks for your answer. Using depth_image_proc/point_cloud_xyzrgb, I would get a pointcloud2 message which I can visualise in Rviz and see the pointcloud. But what I am trying is get the xyz,rgb values for each point in pointcloud2 msg. Would that also be possible using depth_image_proc ?
Yes. You would use depth_image_proc to create a new PointCloud2 topic. Then your node would subscribe to this topic and then be able to access the XYZ and RGB values of each point.
Thanks alot I was able to get the fields values from the pointcloud2.
For performance reasons (as I am using Ros sharp to communicate these msgs over websocket to Unity), is there a way to get xyz for each pixel from a depth image separately and rgb for each px from a color image separately.
Asked: 2018-12-18 08:09:27 -0500
Seen: 2,642 times
Last updated: Dec 19 '18
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