ROS Intel Realsense how to process data with PCL

asked 2019-02-26 07:03:30 -0500

Kluun
15 ●10 ●12 ●16

Hello,

Currently i a trying to detect object using a Intel realsense D415 camera. I got the camera running and it can publish /camera/depth/color/points. My question is how to process this data to detect the object?

I understand that it possible to use PCL to process point cloud data and i think it may by possible to used it for my application. However i have no idea how to use PCL or how to use PCL with ROS.

Any tips, advises, examples or suggestions are welcome.

I run the system on on a ubuntu 16.04 LTS and ROS kinetic. The package i got working are the realsens2_camera and pcl_ros.

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answered 2019-02-27 09:22:34 -0500

Kluun
15 ●10 ●12 ●16

Hello everyone,

I found a way to process the Intel Realsense data with PCL. First made a subscriber for the /camera/depth/color/points. I translate the sensor_msgs::Pointcloud2 to pcl::PCLPointCloud2::Ptr. Than i uses the PCL functions to process the point cloud and at the end i translate it back to sensor_msgs::Pointcloud2, so i can publish it and see it with RVIZ.

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answered 2019-02-26 11:46:55 -0500

PeteBlackerThe3rd

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9529 ●30 ●143 ●135 https://www.linkedin.c...

You can use the depth_image_proc package to convert the depth and camera topics from the realsense camera into a point cloud topic.

Then you can subscribe to this as described in the PCL tutorials and start using the PCL library to work with the data from the realsense.

Hope this helps.

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There is no need to convert depth to point as Intel Realsense already provides a node that publishes points. If you look at the type of /camera/depth/color/points topic you can see it is sensor_msgs/PointCloud2.

asaglam ( 2021-05-17 14:46:21 -0500 )edit

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ROS Intel Realsense how to process data with PCL

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