ROS Realsense organized point cloud

asked 2019-03-21 07:02:23 -0500

Kluun gravatar image


I am working with an Intel RealSense D415 camera to collect a 3D information of an object. With the realsense2_camera packages i can collect the point-cloud of the camera scene. This point-cloud is an unorganized point cloud (height of 1 and width with all points on them), however i need an organized point-cloud to (height and width equal to the camera frame size) to preform some point-cloud filters.

My question is if it is possible and how to get an organized point-cloud from the Intel RealSense camera?

The system that i am using is a Ubuntu 16.04, with ROS kinetic, PCL1.9.1, realsense2_camera package and Intel RealSense d415.

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Sounds like you just want the depth image from image_rect_raw topic

stevemacenski gravatar image stevemacenski  ( 2019-03-21 14:40:21 -0500 )edit

It is an open issue at the moment. A possible solution is mentioned here. I have not tried it yet

taekedehaan gravatar image taekedehaan  ( 2020-06-09 10:00:16 -0500 )edit

As discussed over here rs_rgbd.launch does return an organized pointcloud.

taekedehaan gravatar image taekedehaan  ( 2020-06-09 10:25:45 -0500 )edit