Realsense D435 with AR_Track_Alvar and PointCloud not detecting tags

asked 2019-06-07 08:36:27 -0600

isvima gravatar image

Hello everyone,

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

When using the command

roslaunch realsense2_camera rs_rgbd.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 realsense2_camera rs_camera.launch filters:=pointcloud

The problem comes using this previous command.

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

msg_pointcloud.width = num_valid_points;

msg_pointcloud.height = 1;

As the image seen by the AR_Track_Alvar is an image of num_valid_points 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 rs_rgbd.launch and using rs_camera.launch filters:=pointcloud . Any idea ?

Thank you !

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