How do I record a .bag file using the MATLAB RealSense wrapper?

% Make Config object to manage pipeline settings
cfg = realsense.config();

% Tell pipeline to record to the given rosbag file
cfg.enable_record_to_file('test.bag');

% Make Pipeline object to manage streaming
pipe = realsense.pipeline();

pointcloud = realsense.pointcloud();

% Start streaming from the rosbag with default settings
profile = pipe.start();

% Get streaming device's name
dev = profile.get_device();
name = dev.get_info(realsense.camera_info.name);

recorder = realsense.recorder(dev,'test.bag');

figure('visible','on');  hold on;
figure('units','normalized','outerposition',[0 0 1 1])

% Main loop
for i = 1:100

    % Obtain frames from a streaming device
    fs = pipe.wait_for_frames();

    % Select depth frame
    depth = fs.get_depth_frame();
    %color = fs.get_color_frame();

    % Produce pointcloud
    if (depth.logical())% && color.logical())

        %pointcloud.map_to(color);
        points = pointcloud.calculate(depth);

        % Adjust frame CS to matlab CS
        vertices = points.get_vertices();
        X = vertices(:,1,1);
        Y = vertices(:,2,1);
        Z = vertices(:,3,1);

        plot3(X,Z,-Y,'.');
        grid on
        hold off;
        view([45 30]);

        xlim([-0.5 0.5])
        ylim([0.3 1])
        zlim([-0.5 0.5])

        xlabel('X');
        ylabel('Z');
        zlabel('Y');

        pause(0.01);
    end
    % pcshow(vertices); Toolbox required
end

% Stop streaming
pipe.stop();

• MartyG

  • June 09, 2022 16:41

  Hi Yalwis  Discussions in the links below about recording a bag file in the RealSense MATLAB wrapper recommend using cfg.enable_record_to_file('FILEPATH'); which your script already basically does.

   

  https://github.com/IntelRealSense/librealsense/issues/6057

  https://github.com/IntelRealSense/librealsense/issues/9773#issuecomment-922283007

   

  I note that in your pipe.start line, you have not placed cfg in the brackets.  Doing so is usually necessary to inform the script that it should use the cfg instructions provided in the lines above the pipe.start instruction, otherwise the cfg instructions will be ignored by the script and it would not use cfg.enable_record_to_file.  So please try changing the pipe.start line to the one below.

   

  profile = pipe.start(cfg);

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• Yalwis

  • June 09, 2022 16:57

  Thank you, that seems to do the trick!

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