怎么将RealSense D415包文件转换为PCD

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Hello Eliza,
Thanks for your detailed reply, I've tried it and it produced the some errors seen below in visual studio:

After some research I've found that the error is from the fact that the altstr.h isn't installed with visual studio and I've to install it as per the screenshot below:

The build was then completed, after that when I try to run the executable file generated i get a black screen splash and an error txt file is generated that is empty as seen below (the first two txt files):

I would appreciate your help to solve this problem. Thanks

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Could we please get a compiled version of this convertor added to the sdk like it is for all the other tools? I think this would be very helpful to a lot of people.

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Hi Eliza,
 
I am also following along here and have managed to follow your instructions and open the solution in visual studio. I can build and run the viewer from source, seems to work fine. But when I try to run the convertor in visual studio I get the following errors,
 
'rs-convert.exe' (Win32): Loaded 'C:gitlibrealsense-2.16.0buildDebugrs-convert.exe'. Symbols loaded.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32ntdll.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32kernel32.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32KernelBase.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32user32.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32win32u.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32gdi32.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32gdi32full.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32msvcp_win.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32ucrtbase.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32ole32.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32combase.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32rpcrt4.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32bcryptprimitives.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32sechost.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32oleaut32.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32advapi32.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32msvcrt.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32shlwapi.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32cfgmgr32.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32setupapi.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32mf.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32mfplat.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32winu***.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32mfreadwrite.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32kernel.appcore.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32mfcore.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32crypt32.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32msasn1.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32powrprof.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32ksuser.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32bcrypt.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32cryptbase.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32imm32.dll'. Cannot find or open the PDB file.
'rs-convert.exe' (Win32): Loaded 'C:WindowsSystem32RTWorkQ.dll'. Cannot find or open the PDB file.
Exception thrown at 0x00007FFFDBC4A388 in rs-convert.exe: Microsoft C++ exception: TCLAP::CmdLineParseException at memory location 0x00000081C55ADE20.
Exception thrown at 0x00007FFFDBC4A388 in rs-convert.exe: Microsoft C++ exception: TCLAP::ExitException at memory location 0x00000081C55AB660.
The thread 0x58ac has exited with code 1 (0x1).
The thread 0x4298 has exited with code 1 (0x1).
The thread 0x3bdc has exited with code 1 (0x1).
The thread 0x351c has exited with code 1 (0x1).
The program '[21656] rs-convert.exe' has exited with code 1 (0x1).

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Yep, that would be great but does this tool work on an entire bag file (15/30 fps) or frame by frame that's important to know.

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Hello GamesMechanics and gpred,

Thank you for the information provided! 

I managed to get the convert tool working by doing the following: 

• Opened RealsenseToolsConvert from C:gitlibrealsense-2.15.0buildtoolsconvert (this is my view) 
  
• Build the entire solution. On my case, I had all the files on "Solution Configuration" Debug and "Solution Platform" Win32 (This is my case, yours can be different as long as every single solution from "Solution Explorer" has the same configuration) 
  
• After I got Build Successful I have opened rs-convert.exe from C:gitlibrealsense-2.15.0buildDebugrs-convert.exe (the file path can be found by: right-click on rs-convert from Visual Studio -> Properties -> Linker -> Command Line -> right next to "OUT" )
  
• A terminal has opened and I used the command from https://github.com/IntelRealSense/librealsense/tree/master/tools/convert
  

I hope this will help you! 

Best regards,
Eliza

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Thanks Eliza. I managed to get it to build by following your instructions. Unfortunately when I run rs-convert.exe it just exits immediately and produces an empty text document as a debug log.

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Hello gpred,

My apologizes, the last step mentioned by me is not necessary.

Could you please open a terminal in the location of the rs-convert.exe and use the command from https://github.com/IntelRealSense/librealsense/tree/master/tools/convert?

Thank you! 
Eliza

 

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Hello Eliza,
Thanks for your reply, I'm still facing the same problem I've reported before and gpred is reporting below, when I start the rs-convert it just closes instantaneously and an empty text file is created. I've tried building everything and most of the tools and intel viewer work except the converter. I've also tried creating the binaries again from scratch using CMake and that didn't change anything.
 
I've been trying/research the ROS nodelet to convert the bag file and couldn't get my head around it and it would be great if intel would create a simple tutorial regarding that.
 
Appreciate your feedback, thanks.

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Hello GamesMechanic,

Could you pleas open a Command Prompt windows in the location of the rs-convert.exe (for me it is C:gitlibrealsense-2.15.0buildDebug) and run the command from https://github.com/IntelRealSense/librealsense/tree/master/tools/convert ? 

Thank you!
Eliza

 

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Hi Eliza, I have now opened the terminal in the location of rs-convert.exe and used the command from the link provided
 
Running,
 
C:gitlibrealsense-2.16.0buildDebug>rs-convert -i 20180713_120746.bag -p C:plyout
 
Produces the following output,
 
99%
PNG converter
        134 Infrared frame(s) processed
        134 Depth frame(s) processed
 
And 134 depth frames and infrared frames are output to C: and appended with the filenames plyout as expected
 
Running,
 
C:gitlibrealsense-2.16.0buildDebug>rs-convert -i 20180713_120746.bag -l C:plyout
 
Produces the output,
 
99%
PLY converter
 
But unfortunately no ply files are produced and it is these that I require.

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Hello MartyG,
 
Thanks for your clarifications, I agree with gpred that a simple way to export the generated point cloud would be great instead of jumping through hoops. I'd like to say that this hardware has a huge potential and I can see many industrial applications for it, unfortunately instead of me focusing on trying to find a pipeline for these applications, I've to struggle with getting a simple export. I think you should consider that developers aren't just the people who can create software but are those who can develop applications for hardware that wasn't there before.

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Hello MartyG,
 
I went through the resources and that's regular photogrammetry we can already make that using a mobile phone camera and a software like photoscan or 3DF, you don't need a depth sensing camera for that, I was hoping to use the D400 to improve the work flow of our photogrammetry not to make it far more complex. Thanks but as I've said a tool to generate the model in the viewer would be great or at least a tutorial on how to use ROS to do so, I've tried with Unity, librealsense and ROS but couldn't achieve anything. I've two cameras (D415) with some potential alas couldn't extract the data I need from them.

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As a developer myself, I do understand your frustrations.   I am not an Intel employee though and have no influence over RealSense development.  The RealSense GitHub is the best place for users to have direct dialog with the RealSense developers and engineers.

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I'll submit this feature request but will leave it here for a day, incase anyone wants to add to it,
 
Viewer feature requests,
- Playback slider to show milliseconds
- Hovering the mouse over image in 2D and 3D mode should show x, x and z coordinates of closest point to 4 decimal places
When playing back a recorded .bag file,
- Ability to export all frames to a specified folder (or a specified time range)
- This export option should allow the specification to choose what to export, eg. depth images, .ply, .pcd etc
- The timestamp of all frames should be exported to the same folder, either appended to each file name or in a separate readable file which identifies the timestamp of each output file
- An output file which records all the camera settings that were used during the capture
- The ability to skip forward and back one frame (this is currently disabled)

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I've found that you can use the LabVIEW wrapper to get the time stamp you were asking for, you can find it here in this link:
librealsense/wrappers/labview at master · IntelRealSense/librealsense · GitHub
 
Have you found any solution for constructing large scans, intel doesn't seem to be interested in even providing a simple tutorial covering using ROS nodelet.

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Thanks for that. I only just posted the feature request now. I suspect it will be ignored, but worth a go.
 
Will be back to working on this in a couple of weeks, so will post if I have any breakthroughs.
 
Microsoft is releasing Project Kinect for Azure soon.
 
Project Kinect for Azure | Microsoft Azure
 
Will be looking into using this as an alternative to realsense. It seems Microsoft might have a better appreciation of the research and business applications of this tech, rather than it just being a consumer camera in a laptop. There sdk is also likely to be more professional and better documented than Intel. So fingers crossed. In the meantime I'll persist with realsense, as despite the poor support it is still promising tech.

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Thanks for the information.