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I have one question about Matlab wrapper. The pointcloud_example should give the XYZ coordinates and the point cloud (still I don't get the point cloud and I can't access the pointcloud object, I haven't got an answer why) the depth_example should give the depth image.
But, which Matlab functions should give the RGB image and the INFRA image?
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Another user succeeded in configuring left and right IR streams in the MATLAB wrapper with the scripting in the link below.
https://forums.intel.com/s/question/0D70P000006AycZSAS
Someone else may be able to help you with the equivalent code for RGB in the MATLAB wrapper
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Hello Marty,
I saw the link. That is OK, but I am using the saved bag files:
cfg = realsense.config();
cfg.enable_device_from_file('D:\Work\Measurements\+realsense\Day09.bag');
profile = pipe.start(cfg);
How should I do this from the bag file?
Thank you in advance.
Best regards,
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Dear Alexandra,
Thank you for the answer and sorry for the late response, I had some jobs to finish.
This code i OK and I am think this is the solution for live streaming. But, I am using saved "bag" files. How can I do this from the "bag" file?
This is the part of my code, where I am using the "bag" file:
cfg = realsense.config();
cfg.enable_device_from_file('D:\Work\Measurements\+realsense\Day09.bag');
profile = pipe.start(cfg);
Thank you in advance.
Kind regards,
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Hi VT1000,
The code below will show the color frame from a ROS Bag. You can get the infrared frame using get_infrared_frame .
function rosbag_example(filename)
% Make Config object to manage pipeline settings
cfg = realsense.config();
validateattributes(filename, {'char','string'}, {'scalartext', 'nonempty'}, '', 'filename', 1);
% Tell pipeline to stream from the given rosbag file
cfg.enable_device_from_file(filename);
% Make Pipeline object to manage streaming
pipe = realsense.pipeline();
% Start streaming from the rosbag with default settings
profile = pipe.start(cfg);
% Get streaming device's name
dev = profile.get_device();
name = dev.get_info(realsense.camera_info.name);
% Get frames. We discard the first couple to allow
% the camera time to settle
for i = 1:50
fs = pipe.wait_for_frames();
end
% Stop streaming
pipe.stop();
% Get the RGB Frame
color = fs.get_color_frame();
%color = fs.get_infrared_frame();
% Get actual data and convert into a format imshow can use
% (Color data arrives as [R, G, B, R, G, B, ...] vector)
data = color.get_data();
img = permute(reshape(data',[3,color.get_width(),color.get_height()]),[3 2 1]);
% Display image
imshow(img);
title(sprintf("Color frame from %s", name));
end
Regards,
Alexandra
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Hello Alexandra,
Another question about data extraction from the bag file?
How can I extract the depth stream in white-to-black or other visualizing scheme?
The depth_example.m function gives the colored depth image. Is this possible using the depth_example function? The color and other frame work well now.
Thank you in advance.
Kind regards
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Hello Alexandra,
Thank you, it works.
Also, how can I extract the RGB, Depth, PointCloud and infra images for each frame separately? I have extracted the point cloud using the pointcloud_example.m, but there is only one point cloud defined by "vertices" variable (not for the each frame)?
Thank you.
Kind regards,
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Dear Alexandra,
So, there is no option to extract it automatically without programing? OK, I will try it.
Also, I have a question about setting. I would like to use the RealSense D415 outdoors with high accuracy setting? Are there any documents about these settings or a preset JSON file? Where can I find the documents for stereo control, advanced control, depth visualisation and postprocessing settings? I need the explanation of all parameters in those setting in order to try to tune them. I can't find any documents about this. Or, If there is a document for tuning the setting for outdoor usage, I will be thankful if someone would provide me it.
Thank you in advance.
Kind regards
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Dear Alexandra,
Sorry, I have used the link to answer you automatically.
I will open a new thread.
Thank you, kind regards.
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