Intel RealSense RGBD Camera

Model Number: D435

Product page: https://realsenseai.com/products/stereo-depth-camera-d435/

ROS wrapper: https://github.com/IntelRealSense/realsense-ros

Realsense SDK

Installation instructions for the RealSense SDK and the ROS wrapper can be found in the realsense-ros readme. If you are using a Jetson then follow the Jetson install instructions, otherwise use the appropriate Ubuntu install instructions. Once the RealSense SDK has been installed realsense-viewer can be used to view sensor data from the camera. The ROS wrapper can be used to publish RGB images, depth images, and point cloud data as ROS topics

RGBD image format

RGB image encoding: bgr8

Depth image encoding: 16UC1

Each pixel in the depth image has a 16bit unsigned number associated with it representing the depth of that pixel in millimeters. If the depth reading is invalid for any reason, this value will be 0

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