.bag file extraction and processing

• Eliza Davidov

  • June 27, 2019 13:47

  Hello 1106569356,

   

  Thank you for your interest in the Intel RealSense Technology.

   

  Could you please be more specific in regards to your project? Alignment between RGB and Depth can be performed in RealSense Viewer, on 3D View, when selecting Texture Source: Intel RealSense * Color and after that saving the file as .ply. 

   

  Is this what you are looking to accomplish? 

   

  Thank you and best regards,

  Eliza

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• 1106569356

  • June 28, 2019 01:38

  The.bag file I recorded is a video sequence and I need to save the color and depth alignment locally for later use.But my problem now is how to align and save them all, and not drop frames out in order.

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• Eliza Davidov

  • June 28, 2019 11:19

  Hello 1106569356,

   

  How do you want to save the depth and color frames? What should be the format? 

  Intel RealSense SDK 2.0 has a tool named rs-convert which will save color and depth frames from a bag file as .png - https://github.com/IntelRealSense/librealsense/tree/master/tools/convert 

   

  Best regards,

  Eliza

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• 1106569356

  • June 28, 2019 15:19

  Hi Eliza,

  Since I need to align the color and depth sequence images, I did not choose to use rs-convert.exe. Are the depth and color sequences extracted by rs-convert.exe aligned?

  Best  regards.

  Nevyn_wong

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• Eliza Davidov

  • July 01, 2019 09:31

  Hello 1106569356,

   

  The rs-convert Tool can save the files as .ply, as you can see in the "Command Line Parameters" line. If you have recorded both depth and color streams in your bag file, the .ply file generated will be the alignment between them. 

   

  Please let me know if this works for your project! 

   

  Thank you,

  Eliza

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• 1106569356

  • July 01, 2019 09:39

  Hi Eliza,

   

  Thank you very much for your help. It was very helpful to me.If the rs-convert.exe converted.ply file is aligned, I will attempt to use rs-convert.exe for my related processing.Except that if my.bag file takes about two minutes to record, the rs-convert.exe conversion to the.ply file is time consuming.

  Thank you again for your answers to my repeated questions.

  Thank you!

  Nevyn_wong

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• 1106569356

  • July 01, 2019 11:31

  Hi Eliza,

  I saw that the aligned point cloud was a bunch of scattered points, not arranged according to the 640*480 of the image, and the number of points was not the same, and some points were missing.How do I get the original size color image and point cloud sequence?

  Because I need the original size color image and point cloud frame sequence to do some processing.

  Thank you !

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