import bag file into blender

[Phoust]

Hello! I'm trying to get realsense recordings into blender to manipulate and render. I can import stills as PLY files, but this doesn't help with video clips.

I've tried using the RS convert tool to at least get a PNG depth sequence which I could use as a displacement source, but the data is presented in a hue cycle rather than a B+W Depth map.

Any advice would be much appreciated, thanks!

[MartyG-RealSense]

Hi @Phoust If you want monochrome depth images that are not colorized then there is an alternative RealSense bag extraction tool created by a RealSense user called rs_bag2image that can do this.

https://github.com/UnaNancyOwen/rs_bag2image

[Phoust]

That works fantastic, thank you!!
Is there any information on how the data should be interpreted? I'm noticing a bend in the projected points (filming a flat surface appears curved) which doesn't seem to be related to display transform. In the RealSense viewer program, the surface is perfectly flat as it should be. Is there some sort of gamma correction that needs to be applied?

[MartyG-RealSense]

You are very welcome!

If a flat surface appears curved then I would recommend performing a calibration of the camera, or try resetting the camera to its factory-new default calibration in the RealSense Viewer tool using the instructions at #10182 (comment)

[Phoust]

I figured it out, I was incorrectly doing a straight directional offset of the points on a grid in Z space, and I needed to factor in the intrinsic camera parameters.
I couldn't find the specific K values for my actual d435 camera but I was able to eyeball it until things looked mostly rectilinear

[MartyG-RealSense]

It's excellent to hear that you achieved a solution. Thanks very much for the update!

On the D435 model, the 5 distortion coefficients are all set to zero for reasons provided by a RealSense team member at #1430 (comment)

[Phoust]

Hey! Just one more question, sorry!! Then I'll be out of your hair!
Do you happen to know how to export the infrared camera stream out of this convert tool? So far I have not been able to figure it out, it exports the depth and the RGB perfectly but not the infrared.
Is this only possible on certain camera models, is there a specific setting I need to use, is it contingent on how it was recorded with the realsense viewer, or could it be another issue? Thanks again

[MartyG-RealSense]

It's no trouble at all, I promise. :)

rs-bag2image should export the left infrared stream as jpg files according to its documentation.

There has to be left infrared frames recorded in the bag file in the Viewer though in order for them to be extractable. So you would enable the Depth, Infrared (not 'Infrared 2') and RGB streams in the Viewer and then click the Record button to begin recording the bag.

It will only record the streams that are enabled before the Record button is clicked.

If you are enabling the Stereo Module without expanding open its options then Infrared will not be streamed, only depth. To record both infrared and depth, you need to expand open the Stereo Module section and click on the boxes beside the Depth and Infrared options to turn the boxes blue (On). Then click on the red icon beside Stereo Module to turn it blue (On) and enable the depth and Infrared streams.

[Phoust]

It works, great! Thanks very much, appreciate all your help.

[MartyG-RealSense]

You are very welcome. I'm pleased that I could help. :)