Realsense Depth Camera D435 - mfkenson/MAEG5755-2021-Team-PARK GitHub Wiki

Frames of Intel Realsense D435

GIF

camera origin

Camera intrinsics

They are factory calibrated. No manaul calibration needed here. Available in topics

/d435/color/camera_info
/d435/depth/camera_info

(D435, depth, gazebo)

header: 
  seq: 97131
  stamp: 
    secs: 3250
    nsecs: 574000000
  frame_id: "d435_depth_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: []
K: [347.99755859375, 0.0, 320.0, 0.0, 347.99755859375, 240.0, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [347.99755859375, 0.0, 320.0, 0.0, 0.0, 347.99755859375, 240.0, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

Real D435 topics

/d435/color/camera_info
/d435/color/image_raw
/d435/color/image_raw/compressed
/d435/color/image_raw/compressed/parameter_descriptions
/d435/color/image_raw/compressed/parameter_updates
/d435/color/image_raw/compressedDepth
/d435/color/image_raw/compressedDepth/parameter_descriptions
/d435/color/image_raw/compressedDepth/parameter_updates
/d435/color/image_raw/theora
/d435/color/image_raw/theora/parameter_descriptions
/d435/color/image_raw/theora/parameter_updates
/d435/depth/camera_info
/d435/depth/color/points
/d435/depth/image_rect_raw
/d435/depth/image_rect_raw/compressed
/d435/depth/image_rect_raw/compressed/parameter_descriptions
/d435/depth/image_rect_raw/compressed/parameter_updates
/d435/depth/image_rect_raw/compressedDepth
/d435/depth/image_rect_raw/compressedDepth/parameter_descriptions
/d435/depth/image_rect_raw/compressedDepth/parameter_updates
/d435/depth/image_rect_raw/theora
/d435/depth/image_rect_raw/theora/parameter_descriptions
/d435/depth/image_rect_raw/theora/parameter_updates
/d435/extrinsics/depth_to_color
/d435/pointcloud/parameter_descriptions
/d435/pointcloud/parameter_updates
/d435/realsense2_camera_manager/bond
/d435/rgb_camera/auto_exposure_roi/parameter_descriptions
/d435/rgb_camera/auto_exposure_roi/parameter_updates
/d435/rgb_camera/parameter_descriptions
/d435/rgb_camera/parameter_updates
/d435/stereo_module/auto_exposure_roi/parameter_descriptions
/d435/stereo_module/auto_exposure_roi/parameter_updates
/d435/stereo_module/parameter_descriptions
/d435/stereo_module/parameter_updates

Gazebo Simulated D435 topics

/d435/color/camera_info
/d435/color/image_raw
/d435/color/image_raw/compressed
/d435/color/image_raw/compressed/parameter_descriptions
/d435/color/image_raw/compressed/parameter_updates
/d435/color/image_raw/compressedDepth
/d435/color/image_raw/compressedDepth/parameter_descriptions
/d435/color/image_raw/compressedDepth/parameter_updates
/d435/color/image_raw/theora
/d435/color/image_raw/theora/parameter_descriptions
/d435/color/image_raw/theora/parameter_updates
/d435/depth/camera_info
/d435/depth/color/points
/d435/depth/image_raw
/d435/depth/image_raw/compressed
/d435/depth/image_raw/compressed/parameter_descriptions
/d435/depth/image_raw/compressed/parameter_updates
/d435/depth/image_raw/compressedDepth
/d435/depth/image_raw/compressedDepth/parameter_descriptions
/d435/depth/image_raw/compressedDepth/parameter_updates
/d435/depth/image_raw/theora
/d435/depth/image_raw/theora/parameter_descriptions
/d435/depth/image_raw/theora/parameter_updates
/d435/infra1/camera_info
/d435/infra1/image_raw
/d435/infra1/image_raw/compressed
/d435/infra1/image_raw/compressed/parameter_descriptions
/d435/infra1/image_raw/compressed/parameter_updates
/d435/infra1/image_raw/compressedDepth
/d435/infra1/image_raw/compressedDepth/parameter_descriptions
/d435/infra1/image_raw/compressedDepth/parameter_updates
/d435/infra1/image_raw/theora
/d435/infra1/image_raw/theora/parameter_descriptions
/d435/infra1/image_raw/theora/parameter_updates
/d435/infra2/camera_info
/d435/infra2/image_raw
/d435/infra2/image_raw/compressed
/d435/infra2/image_raw/compressed/parameter_descriptions
/d435/infra2/image_raw/compressed/parameter_updates
/d435/infra2/image_raw/compressedDepth
/d435/infra2/image_raw/compressedDepth/parameter_descriptions
/d435/infra2/image_raw/compressedDepth/parameter_updates
/d435/infra2/image_raw/theora
/d435/infra2/image_raw/theora/parameter_descriptions
/d435/infra2/image_raw/theora/parameter_updates

Images topic

Simulation

/d435/color/image_raw
/d435/depth/image_raw

Real world


/d435/color/image_raw
/d435/depth/image_rect_raw

Depth image topic to PNG image

avoid if possible, otherwise notice that encoding.

mkdir -p ~/Desktop/depth_images
cd ~/Desktop/depth_images
rosrun image_view image_saver image:=/d435/depth/image_rect_raw _encoding:=16UC1 _filename_format:="image%04i.png"

RGB image topic to PNG image

avoid if possible, otherwise notice that encoding.

mkdir -p ~/Desktop/rgb_images
cd ~/Desktop/rgb_images
rosrun image_view image_saver image:=/d435/color/image_raw _encoding:=16UC1 _filename_format:="image%04i.png"

Depth Image Visualization (Real world sample)

RGB 339mm 446mm