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.bag file topics issue #27

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AriesChen-UPC opened this issue Oct 16, 2021 · 2 comments
Open

.bag file topics issue #27

AriesChen-UPC opened this issue Oct 16, 2021 · 2 comments

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@AriesChen-UPC
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The .bag file which i had record dosen't contain the topic "points"(pointcloud2), how can set the topics? Thank you!
camera_info: Intel Realsense L515
os: Ubuntu 20.04

topics:       /device_0/info                                                          12 msgs    : diagnostic_msgs/KeyValue  
              /device_0/sensor_0/Depth_0/image/data                                   24 msgs    : sensor_msgs/Image         
              /device_0/sensor_0/Depth_0/image/metadata                              216 msgs    : diagnostic_msgs/KeyValue  
              /device_0/sensor_0/Depth_0/info                                          1 msg     : realsense_msgs/StreamInfo 
              /device_0/sensor_0/Depth_0/info/camera_info                              1 msg     : sensor_msgs/CameraInfo    
              /device_0/sensor_0/Depth_0/tf/0                                          1 msg     : geometry_msgs/Transform   
              /device_0/sensor_0/Infrared_0/image/data                                24 msgs    : sensor_msgs/Image         
              /device_0/sensor_0/Infrared_0/image/metadata                           216 msgs    : diagnostic_msgs/KeyValue  
              /device_0/sensor_0/Infrared_0/info                                       1 msg     : realsense_msgs/StreamInfo 
              /device_0/sensor_0/Infrared_0/info/camera_info                           1 msg     : sensor_msgs/CameraInfo    
              /device_0/sensor_0/Infrared_0/tf/0                                       1 msg     : geometry_msgs/Transform   
              /device_0/sensor_0/info                                                  2 msgs    : diagnostic_msgs/KeyValue  
              /device_0/sensor_0/l500_data                                             1 msg     : std_msgs/Float32MultiArray
              /device_0/sensor_0/option/Alternate_IR/description                       1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Alternate_IR/value                             1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Apd_Temperature/description                    1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Apd_Temperature/value                          1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Confidence_Threshold/description               1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Confidence_Threshold/value                     1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Depth_Offset/description                       1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Depth_Offset/value                             1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Depth_Units/description                        1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Depth_Units/value                              1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Digital_Gain/description                       1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Digital_Gain/value                             1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Enable_IR_Reflectivity/description             1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Enable_IR_Reflectivity/value                   1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Enable_Max_Usable_Range/description            1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Enable_Max_Usable_Range/value                  1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Error_Polling_Enabled/description              1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Error_Polling_Enabled/value                    1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Frames_Queue_Size/description                  1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Frames_Queue_Size/value                        1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Freefall_Detection_Enabled/description         1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Freefall_Detection_Enabled/value               1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Global_Time_Enabled/description                1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Global_Time_Enabled/value                      1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Host_Performance/description                   1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Host_Performance/value                         1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Humidity_Temperature/description               1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Humidity_Temperature/value                     1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Inter_Cam_Sync_Mode/description                1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Inter_Cam_Sync_Mode/value                      1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Invalidation_Bypass/description                1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Invalidation_Bypass/value                      1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/LDD_temperature/description                    1 msg     : std_msgs/String           
              /device_0/sensor_0/option/LDD_temperature/value                          1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Laser_Power/description                        1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Laser_Power/value                              1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Ma_Temperature/description                     1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Ma_Temperature/value                           1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Mc_Temperature/description                     1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Mc_Temperature/value                           1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Min_Distance/description                       1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Min_Distance/value                             1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Noise_Estimation/description                   1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Noise_Estimation/value                         1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Noise_Filtering/description                    1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Noise_Filtering/value                          1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Post_Processing_Sharpening/description         1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Post_Processing_Sharpening/value               1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Pre_Processing_Sharpening/description          1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Pre_Processing_Sharpening/value                1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Receiver_Gain/description                      1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Receiver_Gain/value                            1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Reset_Camera_Accuracy_Health/description       1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Reset_Camera_Accuracy_Health/value             1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Sensor_Mode/description                        1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Sensor_Mode/value                              1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Trigger_Camera_Accuracy_Health/description     1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Trigger_Camera_Accuracy_Health/value           1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Visual_Preset/description                      1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Visual_Preset/value                            1 msg     : std_msgs/Float32          
              /device_0/sensor_0/option/Zero_Order_Enabled/description                 1 msg     : std_msgs/String           
              /device_0/sensor_0/option/Zero_Order_Enabled/value                       1 msg     : std_msgs/Float32          
              /device_0/sensor_0/post_processing                                       1 msg     : std_msgs/String           
              /device_0/sensor_1/Color_0/image/data                                   24 msgs    : sensor_msgs/Image         
              /device_0/sensor_1/Color_0/image/metadata                              456 msgs    : diagnostic_msgs/KeyValue  
              /device_0/sensor_1/Color_0/info                                          1 msg     : realsense_msgs/StreamInfo 
              /device_0/sensor_1/Color_0/info/camera_info                              1 msg     : sensor_msgs/CameraInfo    
              /device_0/sensor_1/Color_0/tf/0                                          1 msg     : geometry_msgs/Transform   
              /device_0/sensor_1/info                                                  2 msgs    : diagnostic_msgs/KeyValue  
              /device_0/sensor_1/option/Auto_Exposure_Priority/description             1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Auto_Exposure_Priority/value                   1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Backlight_Compensation/description             1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Backlight_Compensation/value                   1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Brightness/description                         1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Brightness/value                               1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Contrast/description                           1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Contrast/value                                 1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Enable_Auto_Exposure/description               1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Enable_Auto_Exposure/value                     1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Enable_Auto_White_Balance/description          1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Enable_Auto_White_Balance/value                1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Exposure/description                           1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Exposure/value                                 1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Frames_Queue_Size/description                  1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Frames_Queue_Size/value                        1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Gain/description                               1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Gain/value                                     1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Global_Time_Enabled/description                1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Global_Time_Enabled/value                      1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Host_Performance/description                   1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Host_Performance/value                         1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Hue/description                                1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Hue/value                                      1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Power_Line_Frequency/description               1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Power_Line_Frequency/value                     1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Saturation/description                         1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Saturation/value                               1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/Sharpness/description                          1 msg     : std_msgs/String           
              /device_0/sensor_1/option/Sharpness/value                                1 msg     : std_msgs/Float32          
              /device_0/sensor_1/option/White_Balance/description                      1 msg     : std_msgs/String           
              /device_0/sensor_1/option/White_Balance/value                            1 msg     : std_msgs/Float32          
              /device_0/sensor_1/post_processing                                       1 msg     : std_msgs/String           
              /device_0/sensor_2/info                                                  1 msg     : diagnostic_msgs/KeyValue  
              /device_0/sensor_2/option/Enable_Motion_Correction/description           1 msg     : std_msgs/String           
              /device_0/sensor_2/option/Enable_Motion_Correction/value                 1 msg     : std_msgs/Float32          
              /device_0/sensor_2/option/Frames_Queue_Size/description                  1 msg     : std_msgs/String           
              /device_0/sensor_2/option/Frames_Queue_Size/value                        1 msg     : std_msgs/Float32          
              /device_0/sensor_2/option/Global_Time_Enabled/description                1 msg     : std_msgs/String           
              /device_0/sensor_2/option/Global_Time_Enabled/value                      1 msg     : std_msgs/Float32          
              /file_version                                                            1 msg     : std_msgs/UInt32
@wh200720041
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Owner

Hi @LijiongChen

It seems that your camera only provides depth image. I think you have to generate point cloud from depth image first.

You may follow the instruction below, the point cloud can be re-constructed based on camera model and depth image.
https://stackoverflow.com/questions/59590200/generate-point-cloud-from-depth-image

Han

@AriesChen-UPC
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Thank you @wh200720041
I will try.

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@wh200720041 @AriesChen-UPC