search

IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
2.59k stars 1.76k forks source link

Pointcloud with infrared intensity values being all in the e-43 range #2416

Open gcaccia1 opened 2 years ago

gcaccia1 commented 2 years ago

Hi everyone,

I am following up on @FrankLin9981 's last comment about the intensity values being all in the e-43 range. How can I specify the mapping format (e.g. Y8) for the texture so that they appear in the 256 range as if I was subscribing to the /infra/image_raw topic?

@doronhi I am using L515, ROS Noetic, Wrapper 2.0, SDK v2.50.

Best, Guido

Originally posted by @gcaccia1 in https://github.com/IntelRealSense/realsense-ros/issues/1046#issuecomment-1126345110

MartyG-RealSense commented 2 years ago

Hi @gcaccia1 Are you able to achieve your goal if you edit the launch file to set pointcloud_texture_stream to use default="RS2_STREAM_INFRARED instead of the default RS2_STREAM_COLOR setting for this parameter, please? The infrared format in the ROS wrapper is Y8.

Here is the original line in the rs_camera launch file for ROS1:

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

Alternatively, instead of editing the launch file you could try setting it from the roslaunch instruction. For example:

roslaunch realsense2_camera rs_camera.launch pointcloud_texture_stream:=RS2_STREAM_INFRARED

gcaccia1 commented 2 years ago

@MartyG-RealSense thank you for your reply! I am sorry I closed by mistake!

pointcloud_texture_stream is already set as RS2_STREAM_INFRARED. I can see the IR intensity values attached to the pointcloud, but they are all in the e-43 range and not in the Y8 scale. This is both in rviz and checking manually the intensity values (on the XYZI matrix) with a script that subscribes to the pointcloud2 topic. It seems like the Y8 format is applied to the IR raw data when published as an image, but not when attached to a pointcloud.

Any ideas? Thanks, Guido

MartyG-RealSense commented 2 years ago

There are not any references to e-43 on this support forum other than at https://github.com/IntelRealSense/realsense-ros/issues/1046#issuecomment-1126345110 unfortunately. The other discussion about obtaining a point cloud with intensity information is at https://github.com/IntelRealSense/realsense-ros/issues/1386

gcaccia1 commented 2 years ago

Thank you I will look into this a bit more and send updates.

Guido