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Hello,

Currently i a trying to detect object using a Intel realsense D415 camera. I got the camera running and it can publish /camera/depth/color/points. My question is how to process this data to detect the object?

I understand that it possible to use PCL to process point cloud data and i think it may by possible to used it for my application. However i have no idea how to use PCL or how to use PCL with ROS.

Any tips, advises, examples or suggestions are welcome.

I run the system on on a ubuntu 16.04 LTS and ROS kinetic. The package i got working are the realsens2_camera and pcl_ros.


Originally posted by Kluun on ROS Answers with karma: 15 on 2019-02-26

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Hello everyone,

I found a way to process the Intel Realsense data with PCL. First made a subscriber for the /camera/depth/color/points. I translate the sensor_msgs::Pointcloud2 to pcl::PCLPointCloud2::Ptr. Than i uses the PCL functions to process the point cloud and at the end i translate it back to sensor_msgs::Pointcloud2, so i can publish it and see it with RVIZ.


Originally posted by Kluun with karma: 15 on 2019-02-27

This answer was ACCEPTED on the original site

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