Can't see point cloud data of D435.

[ameln3]

How do you do!

I am trying to use Realsense D435 with ROS, using the latest installation instructions from here:

https://github.com/intel-ros/realsense GitHub - intel-ros/realsense: Intel(R) RealSense(TM) ROS Wrapper for D400 series and SR300 Camera

The cameras (I have two!) do not produce point cloud at all.

There are RGB, infra-red images ONLY.

I understand that a SW (algorithm) is required to translate the infrared (2 images) data in order to create the 3D cloud.

Is that the reason that I do not see it? Is only custom Intel SW knows how to do it (like realsense-viewer)?

Or, I just overthink it :-)?

Is there any special reason the following command:

roslaunch realsense2_camera rs_rgbd.launch namespace:="RScamera3" serial_no:="801312070892" enable_pointcloud:="true" json_file_path:=/home/amelnikov/Projects/ROS/JSON_files/MidResHighAccuracyPreset.json

does not produce 3d point cloud?

Thank you.

Andrey M.

[idata]

Hello andreymath,

Thank you for your interest in the Intel RealSense Technology and your inquiry. We are investigating your issue and I will get back to you as soon as possible. Thank you very much in advance for your patience. Regards, Casandra

[ameln3]

Is that possible that I missed some patches?

[idata]

Hello andreymath,

Thank you for your patience in receiving a response. The command you are using is used to publish the ROS topic for RGBD point cloud and by itself is not enough to visualize the RGBD. One simple way to see the point cloud is to install RViz tool that can be found /wiki.ros.org/rviz/UserGuide here, and follow the steps bellow:

• Open a Terminal window and type roslaunch realsense2_camera rs_rgbd.launch
• Open another terminal window and type rosrun rviz rviz to start RViz
• Under "Global Options" select "camera_link" from "Fixed Frame" drop down menu
• Click on the "Add" button at the left bottom of the RViz window.
• Click on the "By topic" tab.
• Choose "pointcloud2" under "depth_registered" -> "points" and click Ok

Best regards,

Alexandru

[ameln3]

thank you.