Bag_data_extraction

A Matlab routine to extract data from *.bag file created by Intel realsense camera.

Usage

extract_info.m

This function is to extract all the information out of the bag file. The output to the function are (all data with name and values),(Names of signals with more than one output),(Name of signals with 0 messages)

[Data,Signal_Info] = extract_info(filename)

rosbag_yuyv_align.m

This function opens a pre-recorded *.bag file aligns it to the color stream and displays the color stream, depth stream, and the overlap. The output is saved as a *.mp4 to be viewed later.

rosbag_yuyv_align(filename)

yuyv2rgb_optimized_mex.mexw64

This function is used to convert 32bit YUYV data from Intel realsense camera to RGB image

image = yuyv2rgb_optimized_mex(color_frame.get_data(),color_frame.get_height(),color_frame.get_width())

Sample Code

The below code is a sample code to run the above functions . The variable filename is the bag file name.

%Bag File
filename = 'bag_file.bag';

% 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 frames
fs = pipe.wait_for_frames();

%Get Color frame
color_frame = fs.get_color_frame();
color_data = color_frame.get_data();