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嗨，
我可以从intel realsense viewer中获取彩色图像和深度。 但有三个问题： 首先，.bag文件包含彩色图像和深度图像，但它们的数字不匹配。为什么？ 第二，我想将深度图像转换为pointcloud，是否有程序？ thrid，在查看器中，摄像机的帧速率仅为30.这在观看者中无法更改。 怎么处理呢？ 谢谢 ， 最好的祝福， Nevyn 以上来自于谷歌翻译 以下为原文 Hi， I can obtain the color image and depth from intel realsense viewer. but there are three questions about it： first, the .bag file contains color images and depth images,but their numbers don't match.why? second,I want to convert the depth image to pointcloud, is there a program? thrid, In the viewer, the frame rate of the camera is only 30. This cannot be changed in the viewer. How to deal with it? thank you , Best Regards, Nevyn 
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23个回答
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听起来好像需要对齐颜色和深度。
英特尔支持团队成员Alexandra在下面的链接中提供有关如何使用3D点云模式在ReealSense Viewer中执行此操作的建议。 回复：在英特尔实感查看器中，深度图像窗口和RGB图像窗口都不会不匹配，就像两个图像中的像素位置不同一样。 如何在两个图像中获得相同的像素位置？ 对于D435 2.如上所述，您可以通过从2D模式切换到3D模式，将深度切换到RealSense Viewer中的点云。 然后，您可以将点云导出为.ply格式文件，类似于在2D模式下保存PNG图像的方式。 3.如果您使用的深度分辨率为1280x720，则仅支持最大30 FPS。 要获得60 FPS的访问权限，您应该降至下一个分辨率848X480 以上来自于谷歌翻译 以下为原文 1. It sounds as though the color and depth needs to be aligned. Intel support team member Alexandra offers advice in the link below about how to do this in the ReealSense Viewer using the 3D point cloud mode. Re: In the Intel RealSense Viewer, both the depth image window and the RGB image window are not mismatched like the pixel position is different in the two images. How can I get the same pixel position in the two images? for D435 2. As mentioned above, you can switch the depth to a point cloud in the RealSense Viewer by switching from 2D to 3D mode. You can then export the point cloud as a .ply format file, similar to how you can save a PNG image in the 2D mode. 3. If you are using the depth resolution of 1280x720, this only supports a maximum of 30 FPS. To gain access to 60 FPS, you should drop to the next resolution down, 848X480 |
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nywerwer 发表于 2018-10-31 13:05 嗨，MartyG， 因为我已经获得了.bag文件，我想将它的深度图像转换为点云，我认为它需要一些程序。 谢谢！ 以上来自于谷歌翻译 以下为原文 Hi, MartyG, Because I have obtained the .bag files, I want to convert the depth image of it to point cloud ,and I think it need some programs. Thank you! |
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SDK有一个名为Convert的工具，用于将包文件转换为其他格式，包括.ply。 librealsense / tools / convert at master·IntelRealSense / librealsense·GitHub 以上来自于谷歌翻译 以下为原文 The SDK has a tool called Convert for converting a bag file to other formats, including .ply. librealsense/tools/convert at master · IntelRealSense/librealsense · GitHub |
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nywerwer 发表于 2018-10-31 13:36 嗨MartyG， 当我在Windows中运行re-convert.exe时，会出现错误，但无法解决。你知道如何处理吗？ 以上来自于谷歌翻译 以下为原文 Hi MartyG, when I run the re-convert.exe in windows, there will be errors, but they can't be solved.Do you know how to deal with it? |
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在这种应用程序中，您需要在文件名后面添加字母，以告诉程序在运行时您希望它做什么。 例如，要将包转换为层，将-l放在末尾（小写L）和要将文件保存到的路径（以下示例中的路径是您的桌面）： 您可以突出显示下面的行并按Ctrl-C进行复制，然后转到转换窗口并执行Ctrl-V粘贴命令。 rs-convert.exe -l C： Users wangfengping Desktop 以上来自于谷歌翻译 以下为原文 In this kind of application, you need to put letters after the filename to tell the program what you want it to do when it runs. For example, to convert the bag to a ply, put -l on the end (a lower-case L) and the path that you want to save the file to (the path in the example below is your desktop): You could highlight the line below and do Ctrl-C to copy it, and then go to the Convert window and do Ctrl-V to paste the command in. rs-convert.exe -l C:UserswangfengpingDesktop |
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nywerwer 发表于 2018-10-31 14:11 嗨MartyG， 问题已经解决了。非常感谢你！ Nevyn 以上来自于谷歌翻译 以下为原文 Hi MartyG， The question has been solved.Thank you very much! Nevyn |
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太棒了，我很高兴你有一个解决方案。 以上来自于谷歌翻译 以下为原文 Awesome, I'm very glad you got a solution. |
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嗨MartyG， 感谢您的帮助！ 但是之前的问题是：深度图像的数量和彩色图像的数量是不同的。你的建议是关于像素对齐。 所以我不知道如何处理它。 Nevyn 以上来自于谷歌翻译 以下为原文 Hi MartyG， Thank you for your help! But the earlier question: the number of the depth image and the number of the color image are different.and the suggest of you is about pixels align. so I don't know how to deal with it. Nevyn |
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我回到英特尔支持成员亚历山德拉的建议，关于在我之前链接的查看器中进行对齐，并制定了她描述的过程。 左键单击图像以全尺寸查看。 步骤1 在Viewer中的2D模式下，激活立体声和RGB流。 第二步 进入3D模式以查看点云。 单击窗口顶部“纹理源”旁边的菜单将其放下。 由于您在2D模式下激活了RGB流，因此现在可以选择“英特尔实感颜色”模式。 选择颜色模式。 现在应该对齐两个流。 以上来自于谷歌翻译 以下为原文 I went back to the advice from Intel support member Alexandra about aligning in the Viewer that I linked to earlier and worked out the process she was describing. Left-click on the images to view it in full size. STEP ONE In 2D mode in the Viewer, activate both the Stereo and RGB streams. STEP TWO Go into 3D mode to see the point cloud. Click on the menu beside 'Texture Source' at the top of the window to drop it down. Because you activated the RGB stream in 2D mode, the 'Intel RealSense Color' mode will now be available for selection. Select the Color mode. The two streams should now be aligned. |
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嗨MartyG， 我最后一次这样做了，但仍有一些不一致但不在像素中。 例如，.bag文件中有66个深度图表和65个颜色图表。 谢谢！ Nevyn 以上来自于谷歌翻译 以下为原文 Hi MartyG, I did that last time, but there are still some inconsistencies but not in the pixels. For example, there are 66 depth charts and 65 color charts in the.bag file. Thank you! Nevyn |
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RealSense GitHub论坛上的一个案例表明，深度和红外线与时间戳完全同步，但深度和颜色与“最佳匹配”同步，因为它们位于不同的传感器上。 RGB和深度帧未同步·问题＃1548·IntelRealSense / librealsense·GitHub 以上来自于谷歌翻译 以下为原文 A case over on the RealSense GitHub forum says that depth and IR are perfectly synced by timestamp, but depth and color sync with a 'best match' because they are on separate sensors. RGB and Depth frames not synchronized · Issue #1548 · IntelRealSense/librealsense · GitHub |
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nywerwer 发表于 2018-10-31 15:14 因为我在intel realsense查看器中通过记录获取.bag文件，如何选择具有最小时间差异的帧？ 以上来自于谷歌翻译 以下为原文 Because I obtain the .bag files by record in the intel realsense viewer, how to choose the frames have the smallest temporal difference? |
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您可以尝试在Viewer中使用后处理过滤器。 以上来自于谷歌翻译 以下为原文 You could try using a post-processing filter in the Viewer. |
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嗨MartyG， 我遇到的所有问题都已解决。 非常感谢您的及时答复。 最好的祝福， Nevyn 以上来自于谷歌翻译 以下为原文 Hi MartyG, All the problems I encountered have been solved. Thank you very much for your timely reply. Best Regards, Nevyn |
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大！ 很高兴我能帮上忙。 如果您有其他问题，请随时返回此论坛 以上来自于谷歌翻译 以下为原文 Great! Glad I could help. Feel free to return to this forum any time that you need to if you have further questions |
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嗨MartyG， 我刚刚测试了一些.bag文件，它们的数量都是一样的，但仍然存在一些不一致之处。 以上来自于谷歌翻译 以下为原文 Hi MartyG, I just tested a few .bag files ,the numbers of them are all the same,but there are still some inconsistencies. |
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这些不一致的大小是否足以在回放行李时明显影响结果，或者它们只是令人讨厌，因为你知道它们在那里，即使它们无法被看到。 以上来自于谷歌翻译 以下为原文 Are the inconsistencies large enough to visibly affect the results when the bag is played back, or are they just annoying because you know they are there even if they cannot be seen. |
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现在我只想通过转换程序获得相同数量的深度图像和彩色图像 librealsense / tools / convert at master·IntelRealSense / librealsense·GitHub， 但不幸的是，事实是转换后深度图像和彩色图像的数量有时太大。 当我想转换程序将.bag文件转换为颜色时，总会失败。显示“输出未定义”，但表单为'rs-convert -i * .bag -c'，并且它不需要 路径。 以上来自于谷歌翻译 以下为原文 Now I just want to get the same numbers of depth image and color image by the convert program librealsense/tools/convert at master · IntelRealSense/librealsense · GitHub , but unfortunately, the fact of the matter is that the number of depth image and color image is sometimes too large after conversion. And when I want to the convert program to convert the .bag file to color , there are always failed.ans shows"output not defined",but the form is ' rs-convert -i *.bag -c ', and it needn't path. |
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jr3367 发表于 2018-10-31 16:43 我想知道我们是否过于复杂。 不是在RealSense Viewer中记录包并将其转换为层，一旦颜色和深度对齐并应用了时间后处理，直接从Viewer的3D模式导出层云点文件会更有意义。 如果你需要一个包，另一种方法是在2D模式下记录包，然后将包装回到Viewer中，并在设置对齐和时间过滤器设置后从3D模式导出一层（因为包是一个现场录音 相机数据，因此从包中制作一层应提供与从实时相机数据制作相同的结果。 以上来自于谷歌翻译 以下为原文 I wonder if we are over-complicating this. Instead of recording a bag in the RealSense Viewer and converting it to a ply, it would make more sense to export a ply point cloud file directly from the 3D mode of the Viewer once color and depth have been aligned and temporal post-processing applied. If you need a bag, another approach would be to record the bag in 2D mode and then load the bag back into the Viewer and export a ply from 3D mode after setting the alignment and temporal filter settings (since a bag is a recording of live camera data, so making a ply from a bag should provide the same results as making it from live camera data). |
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