IR intensity data and RGB data from point cloud.

[vshim1]

I am using the D415 camera to obtain 3D information. I need a point cloud that has RGB and intensity information from the Infrared camera. I am using a ROS workspace. I subscribe to the /camera/depth/color/points topic and I am successfully able to convert the sensor_msgs/PointCloud2 to pcl::PointCloud<pcl::PointXYZRGB> format. I am just wondering if there is any way to get IR intensity as well as RGB data in this point cloud ?

[MartyG]

A guide in the link below describes how to publish an RGB-D point cloud with a 400 Series camera and ROS, using the launch command roslaunch realsense2_camera rs_rgbd.launch

https://idorobotics.com/2018/11/02/integrating-the-intel-realsense-d435-with-ros/

The link below suggests code for applying IR intensity to a point cloud using the launch file.

https://github.com/IntelRealSense/realsense-ros/issues/943

[vshim1]

When I use pointcloud_texture_stream ="RS2_STREAM_INFRARED" as a launch parameter, I am able to get a IR textured point cloud. But for the application we are working on, we need both RGB textured and IR textured point cloud. We need a XYZ depth value that also has IR intensity information as well as a RGB values. Can we do this with the D415 ?

When I run a Ros node with the following code I get a warning saying "rgb" field is absent.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr intensity_cloud(new pcl::PointCloud<pcl::PointXYZRGB>);

 pcl::fromROSMsg(*input, *intensity_cloud);

[MartyG]

XYZRGB point clouds are somewhat outside of my ROS knowledge. For specialist ROS advice, you can visit the RealSense ROS forum at the link below and post a question by clicking on the New Issue button. I apologize for the inconvenience.

https://github.com/IntelRealSense/realsense-ros/issues

[vshim1]

Can you let me know if this can be done with the librealsense SDK ?

[MartyG]

This is the first time I have handled a case where somebody wanted to combine RGB and IR intensity in a single point cloud, so I am not qualified to give a well-educated opinion on whether it is possible with Librealsense.

If I was approaching the problem with ROS myself, I would consider generating separate point clouds (textured RGB and textured IR) and stitch the two point clouds together into a single cloud. This would likely require two cameras though, like in the ROS tutorial in the link below.

https://github.com/IntelRealSense/realsense-ros/wiki/Showcase-of-using-2-cameras