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SyrianSpock / realsense_gazebo_plugin

Intel RealSense R200 Gazebo ROS plugin and model
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camera_info message for your package #4

Closed rachelruijiayang closed 6 years ago

rachelruijiayang commented 7 years ago

Hi, I am trying to convert the depth image output by the realsense_gazebo_plugin into a point cloud, using the depth_image_proc package (in ROS's image_pipeline). However, this requires camera_info information. (rgb/camera_info is a subscribed topic.)

Would you be able to add a camera_info topic for the simulated realsense_camera?

If not, can you provide values for the following fields of the sensor_msgs/CameraInfo.msg for this simulated realsense_camera, so that others can add that topic themselves to their clones of your package if they wish?

std_msgs/Header header uint32 height uint32 width string distortion_model float64[] D float64[9] K float64[9] R float64[12] P uint32 binning_x uint32 binning_y sensor_msgs/RegionOfInterest roi

(Source: sensor_msgs/CameraInfo.msg definition - http://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html)

Thank you! This package has been very useful to me so far, and with camera_info added, will be even more so :-)

rachelruijiayang commented 7 years ago

From the image topics, the Header, height, and width information are already provided, I think. 

ruijia@bliss:~/aero_ws/src$ rostopic echo /realsense/camera/color/image_raw
header: 
  seq: 0
  stamp: 
    secs: 21
    nsecs: 230000000
  frame_id: color
height: 480
width: 640
encoding: rgb8
is_bigendian: 0
step: 1920
data: [102, 102, 102, 101, 101, 101, 101, 101, 101, 99, 99, 99, 103, 103, 103, 101, 101, 101, 101, 101, 101, 101, 101, 101, 102, 102, 102, 101, 101, 101, 105, 105, 105, 103, 103, 103, 99, 99, 99, 103, 103, 103, 104, 104, 104, 102, 102, 102, 101, 101, 101, 100, 100, ...

Should there be any values for the distortion model, binning, and ROI fields? I don't think so, right?

In this case, it should be very easy to add CameraInfo...

SyrianSpock commented 6 years ago

Hi, this has been open for a while, I just pushed a fix to address it. There is also a demo for using depth_image_proc. Can you check if it solves the issue?