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intel / ros2_intel_realsense

This project is deprecated and no more maintained. Please visit https://github.com/IntelRealSense/realsense-ros for ROS2 wrapper.
Apache License 2.0
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Generating point cloud on remote machine #116

Open zentala opened 4 years ago

zentala commented 4 years ago

I would like to connect my D435 to my robot (local machine) and advertise only raw depth & RGB images. Then compute point cloud on the remote machine. Is it possible? How? Any solutions? Suggestions?

Or maybe... do u have any idea hot to push point cloud via network? I got very slow FPS if I am doing it and it seems like a ROS limitation...

I am using ros2_intel_realsense from branch refactor and SDK v2.26.0.

ahuizxc commented 4 years ago

I would like to connect my D435 to my robot (local machine) and advertise only raw depth & RGB images. Then compute point cloud on the remote machine. Is it possible? How? Any solutions? Suggestions?

Or maybe... do u have any idea hot to push point cloud via network? I got very slow FPS if I am doing it and it seems like a ROS limitation...

I am using ros2_intel_realsense from branch refactor and SDK v2.26.0.

the pointcloud message is very large and it may very slow for transform via network. Maybe you can compute the aligned depth image from remote machine and generate the RGB and aligned depth to pointcloud on your local machine.

zentala commented 4 years ago

To be honest I have no idea how to do it. Is there any instruction about that?

ahuizxc commented 4 years ago

To be honest I have no idea how to do it. Is there any instruction about that?

https://github.com/intel/ros2_intel_realsense/blob/99bbe9197983c31df42ed52cfe6b84b7c41fdb94/realsense_ros2_camera/src/realsense_camera_node.cpp#L1045 this code can generate pointcloud from rgb_img and depth_img , hope it can help you