Depth pointcloud

Sohwa427

March 29, 2024 08:39

Hi, now I'm using D405 and D435.

I enabled pointcloud parameter in rs_camera, the I launched the rs_camera.launch file.

I checked the rostopic with rostopic list, I can find the points in '/camer/depth/color/points'.

What I want is pointcloud without color, does D400 series support this option?

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MartyG

March 29, 2024 09:21
Hi Sohwa427 Does your pointcloud become untextured if you add the command below to your roslaunch instruction, please?

pointcloud_texture_stream:=RS2_STREAM_ANY
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Sohwa427

March 29, 2024 10:07
Thanks,

After I added the command, pointcloud become untextured.

Should I add command everytime? or it can be done in rs_camera.launch?
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MartyG

March 29, 2024 10:24
You will need to add the command to the roslaunch instruction every time unless you edit the rs_camera.launch file to change the pointcloud_texture_stream line from RS2_STREAM_COLOR to RS2_STREAM_ANY

https://github.com/IntelRealSense/realsense-ros/blob/ros1-legacy/realsense2_camera/launch/rs_camera.launch#L47
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Sohwa427

March 29, 2024 10:30
Thanks MartyG!
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