Is there a way to specify color stream type?

[ulassbin]

Specifically I am interested in getting Y16 encoding because my application needs unrectified image. I have seen from
https://community.intel.com/t5/Items-with-no-label/How-to-enable-both-Y16-unrectified-streams-from-D435-in-SDK2-0/td-p/618843
that Y16 stream is unrectified.

[MartyG-RealSense]

Hi @ulassbin In the RealSense ROS wrapper you can set stream format (infra, color, fisheye, depth, gyro, accel, pose) and its height, width and FPS but not the mode used for that format.

The ROS wrapper file base_realsense_node.cpp provides information about how the streams are defined in the wrapper.

https://github.com/IntelRealSense/realsense-ros/blob/ros1-legacy/realsense2_camera/src/base_realsense_node.cpp#L93-L119

---

The Y16 format can be defined using code in the librealsense SDK. The link below provides information about this and a link to Python scripting for doing so for the left and right infrared streams.

IntelRealSense/librealsense#6741 (comment)

I believe that for Y16 color from the RGB sensor the equivalent Python instruction in librealsense would be:

config.enable_stream(rs.stream.color, 1280, 720, rs.format.y16, 30)

[ulassbin]

Changing the lines:

realsense-ros/realsense2_camera/src/base_realsense_node.cpp

Lines 114 to 115 in c5403a2

	_image_format[RS2_STREAM_COLOR] = CV_8UC3; // CVBridge type
	_encoding[RS2_STREAM_COLOR] = sensor_msgs::image_encodings::RGB8; // ROS message type

to

    _format[RS2_STREAM_COLOR] = RS2_FORMAT_Y16; // Adding this line.
    _image_format[RS2_STREAM_COLOR] = CV_16UC1;    // CVBridge type
    _encoding[RS2_STREAM_COLOR] = sensor_msgs::image_encodings::MONO16; // ROS message type

and lines:

realsense-ros/realsense2_camera/src/base_realsense_node.cpp

Line 2137 in c5403a2

std::set<rs2_format> available_formats{ rs2_format::RS2_FORMAT_RGB8, rs2_format::RS2_FORMAT_Y8 };

to

std::set<rs2_format> available_formats{ rs2_format::RS2_FORMAT_Y16, rs2_format::RS2_FORMAT_Y8 };

worked for me. When I have the time, I can make this format a parameter and send a pr.

Thanks!

[MartyG-RealSense]

Awesome to hear that you were able to develop a solution that worked for you @ulassbin - thanks very much for sharing your method and the offer of a PR contribution :)