point cloud obtained

[fwang22]

How to obtain the sequence of 2d image and corresponding 3d point cloud at the same time?

[MartyG]

I don't believe you will be able to achieve this in the RealSense Viewer software, unfortunately. If you switch between 2D and 3D mode, it affects all streams, not just one. In my experiments when researching your question, I loaded two copies of the same pre-recorded .bag file into the RealSense Viewer (you can do this if you give each copy of the file a different name) but it would still only allow 2D or 3D mode but not both.

Your best option may be to use the ROS software to align depth to point cloud.

https://github.com/intel-ros/realsense/tree/development# rgbd-point-cloud GitHub - intel-ros/realsense: Intel(R) RealSense(TM) ROS Wrapper for D400 series and SR300 Camera

[fwang22]

Because I don't know much about D415 at the moment，so I want to know if I could use Depth Quality Tool for Intel RealSense Cameras to get point cloud sequences, or if I could use Intel RealSense Viewer to get depth and two-dimensional color sequence .Thank you!

[MartyG]

My tests earlier indicate that you could save the stream in 2D mode as a bag file in the RealSense Viewer and then when you load it back in to the Viewer as a pre-recorded file, you can see it as a point cloud by switching to 3D mode without having to record a separate file just for the point cloud.

If you did need a point cloud file, the 3D mode in the Viewer allows you to save the cloud in a .ply point cloud file instead of a bag file.

[fwang22]

I'm sorry, I still have a question about the above question.I know the depth image can be converted into a point cloud, but the recorded .bag file always show open errors in ubuntu using ROS .Is there any better way to save RGB sequences and depth sequences? Thank you!

[MartyG]

An alternative to using the RealSense Viewer to record and playback a bag file is to do so with scripting.

https://github.com/IntelRealSense/librealsense/tree/master/examples/record-playback librealsense/examples/record-playback at master · IntelRealSense/librealsense · GitHub

If you can use ROS, it has its own system for recording data into a bag file.

http://wiki.ros.org/rosbag/Tutorials/Recording%20and%20playing%20back%20data rosbag/Tutorials/Recording and playing back data - ROS Wiki

Streams can also be saved as a PNG image format file using the SDK's 'save to disk' example program. RealSense Viewer's built-in Snapshot function can do this too.

https://github.com/IntelRealSense/librealsense/tree/master/examples/save-to-disk librealsense/examples/save-to-disk at master · IntelRealSense/librealsense · GitHub