Realsense d435 d435i d415 depth camera obtains RGB map, left and right infrared camera map, depth map and IMU data under ROS

First of all, you should make sure that your camera driver is installed , Environment configuration can be seen in another article of mine ：https://blog.csdn.net/weixin_46195203/article/details/119205851

** First step ：** Create a new file informationread（ The recommended file name here is ：informationread, In this way, there is no need to modify it separately Makelist The information in the ）
** The second step ：** stay informationread Create two new files under the folder, which are build and src One more CMakeLists.txt file
** The third step ：** stay CMakeLists.txt Copy the code in the file

cmake_minimum_required(VERSION 3.1.0)

project(alldata)

set( CMAKE_CXX_COMPILER "g++" )
set( CMAKE_BUILD_TYPE "Release" )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )
# Enable C++11
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)

FIND_PACKAGE(OpenCV REQUIRED)
FIND_PACKAGE(realsense2 REQUIRED)

include_directories( ${
    OpenCV_INCLUDE_DIRS} )
include_directories( ${
    realsense2_INCLUDE_DIRS})
add_executable(informationread src/GetAlldata.cpp)

target_link_libraries(informationread ${
    OpenCV_LIBS} ${
    realsense2_LIBRARY})

** Step four ：** Copy the following code to a .cpp file Put it in src In file （ It is suggested that cpp The file named ：GetAlldata.cpp, In this way, there is no need to modify it separately Makelist The information in the ）

#include <librealsense2/rs.hpp>

// include OpenCV header file
#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;

#define width 640 
#define height 480 
#define fps 30


int main(int argc, char** argv) try
{
    
    // judge whether devices is exist or not 
	rs2::context ctx;
	auto list = ctx.query_devices(); // Get a snapshot of currently connected devices
	if (list.size() == 0) 
		throw std::runtime_error("No device detected. Is it plugged in?");
	rs2::device dev = list.front();
    
    //
    rs2::frameset frames;
    //Contruct a pipeline which abstracts the device
    rs2::pipeline pipe;// Establish a communication pipeline //https://baike.so.com/doc/1559953-1649001.html pipeline The explanation of 
    //Create a configuration for configuring the pipeline with a non default profile
    rs2::config cfg;
    //Add desired streams to configuration
    cfg.enable_stream(RS2_STREAM_COLOR, width, height, RS2_FORMAT_BGR8, fps);// Color images 
    cfg.enable_stream(RS2_STREAM_DEPTH, width, height, RS2_FORMAT_Z16,fps);// Depth image 
    cfg.enable_stream(RS2_STREAM_INFRARED, 1, width, height, RS2_FORMAT_Y8, fps);// Infrared image 1
    cfg.enable_stream(RS2_STREAM_INFRARED, 2, width, height, RS2_FORMAT_Y8, fps);// Infrared image 2
    
    // If you want to get imu Data uncomment the following two lines of code , And modify it imu Assignment 
      //cfg.enable_stream(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F);// gyroscope 
      //cfg.enable_stream(RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F);// gyroscope 
      int imu = 0;// If you want to get imu data , This is set to 1
    // get depth scale 
    // float depth_scale = get_depth_scale(profile.get_device());

    // start stream 
    pipe.start(cfg);// Instructs the pipeline to start the flow with the requested configuration 

    
    while(1)
    {
    
        frames = pipe.wait_for_frames();// Wait for all configured flow generation frameworks 

        // Align to depth 
        rs2::align align_to_depth(RS2_STREAM_DEPTH);
        frames = align_to_depth.process(frames);
    
        // Get imu data
       if(imu){
    
 	if (rs2::motion_frame accel_frame = frames.first_or_default(RS2_STREAM_ACCEL))
        {
    
            rs2_vector accel_sample = accel_frame.get_motion_data();
            std::cout << "Accel:" << accel_sample.x << ", " << accel_sample.y << ", " << accel_sample.z << std::endl;
        }
        if (rs2::motion_frame gyro_frame = frames.first_or_default(RS2_STREAM_GYRO))
        {
    
            rs2_vector gyro_sample = gyro_frame.get_motion_data();
            std::cout << "Gyro:" << gyro_sample.x << ", " << gyro_sample.y << ", " << gyro_sample.z << std::endl;
        }
      }
        //Get each frame
        rs2::frame color_frame = frames.get_color_frame();
        rs2::frame depth_frame = frames.get_depth_frame();
        rs2::video_frame ir_frame_left = frames.get_infrared_frame(1);
        rs2::video_frame ir_frame_right = frames.get_infrared_frame(2);
        
        
        // Creating OpenCV Matrix from a color image
        Mat color(Size(width, height), CV_8UC3, (void*)color_frame.get_data(), Mat::AUTO_STEP);
        Mat pic_right(Size(width,height), CV_8UC1, (void*)ir_frame_right.get_data());
        Mat pic_left(Size(width,height), CV_8UC1, (void*)ir_frame_left.get_data());
        Mat pic_depth(Size(width,height), CV_16U, (void*)depth_frame.get_data(), Mat::AUTO_STEP);
        
        // Display in a GUI
        namedWindow("Display Image", WINDOW_AUTOSIZE );
        imshow("Display Image", color);
        waitKey(1);
        imshow("Display depth", pic_depth*15);
        waitKey(1);
        imshow("Display pic_left", pic_left);
        waitKey(1);
        imshow("Display pic_right",pic_right);
        waitKey(1);
    }
    return 0;
}

// error
catch (const rs2::error & e)
{
    
    std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl;
    return EXIT_FAILURE;
}
catch (const std::exception& e)
{
    
    std::cerr << e.what() << std::endl;
    return EXIT_FAILURE;
}

The default in the code is D415 perhaps D435 This one doesn't imu The camera has no output imu Information
If you want imu Information Follow the instructions to make minor modifications .

** Step four ：** stay build Open the command window in the file and enter

cmake ..
make -j4
./informationread

Now you can see the real-time running results