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Recreate Depth image from Infra1 and Infra2 bagfile

NStei3
Beginner
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Hello,

Is it possible to recreate a depth image stream in ROS from two infrared image streams from a D435 I have in a bagfile?

Input:

/camera/infra1/image_rect_raw

 

/camera/infra2/image_rect_raw

I have a recording where it was not saved, I would like to recreate.

Thanks,

Nick

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MartyG
Honored Contributor III
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Recorded bag files can be loaded into the RealSense Viewer by clicking Add Source and selecting 'Load recorded sequence'. It may be easier to access the data that way and do further processing on it.

https://github.com/IntelRealSense/librealsense/blob/master/doc/sample-data.md librealsense/sample-data.md at master · IntelRealSense/librealsense · GitHub

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NStei3
Beginner
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That would be a fine solution. Unfortunately when I open it gives the following error:

"Failed to create ros reader: Invalid file format, file does not contain topic "/file_version" nor "/FILE_VERSION"

I guess it is looking for the rostopic /file_version. I was recording data using ROS, not the GUI. Is there a way to fix this?

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MartyG
Honored Contributor III
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The ROS program 'rqt_bag' might be a good choice then in those circumstances.

http://wiki.ros.org/rqt_bag rqt_bag - ROS Wiki

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