realsense d435i驱动安装
realsense d435i驱动安装从零开始配置ROS机器人系统环境_总结版#2 12安装双目相机
修改launch文件
将rs_rgbd.launch或rs_camera.launch文件中的<arg name="enable_pointcloud" default="true"/>由false改为true
<arg name="enable_pointcloud" default="true"/>
点云话题名称：/camera/depth/color/points
刷新频率：10Hz左右
realsense点云数据处理
体素滤波realsense_cloud_voxel_filtering.cpp
/*
Purpose of node: subscribe to a point cloud, use a VoxelGrid filter on it with a setting that
clobbers voxels with fewer than a threshold of points.
*/
#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>
#include <iostream>
#include <pcl/filters/voxel_grid.h>
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef pcl::PointXYZ PointXYZ;
class FilterAndPublish
{
public:
FilterAndPublish()
{
printf("Made object\n");
pub = nh.advertise<PointCloud> ("/points_filtered", 1);
sub = nh.subscribe<PointCloud>("/camera/depth/color/points", 1, &FilterAndPublish::callback, this);
this->thresh = 15; // This is the minimum number of points that have to occupy a voxel in order for it to survive the downsample.
}
void callback(const PointCloud::ConstPtr& msg)
{
PointCloud::Ptr cloud (new PointCloud);
PointCloud::Ptr cloud_filtered (new PointCloud);
*cloud = *msg;
// What to do here:
// 1. Take cloud and put it in a voxel grid while restricting the bounding box
// 2. Go through the voxels and remove all points in a voxel that has less than this.thresh points
// 3. Publish resulting cloud
pcl::VoxelGrid<PointXYZ> vox;
vox.setInputCloud(cloud);
// The leaf size is the size of voxels pretty much. Note that this value affects what a good threshold value would be.
vox.setLeafSize(0.05f, 0.05f, 0.05f);
// I limit the overall volume being considered so lots of "far away" data that is just terrible doesn't even have to be considered.
vox.setFilterLimits(-1.0, 1.0);
// The line below is perhaps the most important as it reduces ghost points.
vox.setMinimumPointsNumberPerVoxel(this->thresh);
vox.filter(*cloud_filtered);
pub.publish (cloud_filtered);
}
private:
ros::NodeHandle nh;
ros::Publisher pub;
ros::Subscriber sub;
int thresh;
};
int main(int argc, char** argv)
{
ros::init(argc, argv, "pcl_filtering");
FilterAndPublish f = FilterAndPublish();
ros::spin();
return 0;
}