Generate a PCD/PLY containing normal x,y,z and curvature

[BMana]

Hi!

As the title say, is there a way to Generate a PCD/PLY containing normal x,y,z and curvature from my D415/D435 cameras.

I need it to register them with Open3D.

Thanks!

[MartyG]

Could you provide more details please about what you consider to be 'normal'. Do you mean raw data without any distortion models such as Brown-Conrady applied? Thanks!

[BMana]

Hi!

# My PCD header

# .PCD v0.7 - Point Cloud Data file format

VERSION 0.7

FIELDS x y z rgb

SIZE 4 4 4 4

TYPE F F F U

COUNT 1 1 1 1

WIDTH 1280

HEIGHT 720

VIEWPOINT 0 0 0 1 0 0 0

POINTS 921600

DATA binary

# What I need

# .PCD v0.7 - Point Cloud Data file format

VERSION 0.7

FIELDS x y z rgb normal_x normal_y normal_z curvature

SIZE 4 4 4 4 4 4 4 4

TYPE F F F F F F F F

COUNT 1 1 1 1 1 1 1 1

WIDTH 198835

HEIGHT 1

VIEWPOINT 0 0 0 1 0 0 0

POINTS 198835

DATA binary

[MartyG]

Whilst I couldn't find an example for the 400 Series that used normal XYZ with PCL, I did find one for earlier RealSense cameras in Librealsense 1 (the predecessor of the current SDK 2.0 / Librealsense2). The calculations may be adaptable for the 400 Series.

https://joshmcculloch.nz/# !realsense https://joshmcculloch.nz/# !realsense

Most of the normals code starts in the section headed 'Cylinder fitting' about three-quarters down the page.