open3d.t.io.RSBagReader

class open3d.t.io.RSBagReader
RealSense Bag file reader.

Only the first color and depth streams from the bag file will be read.

  • The streams must have the same frame rate.

  • The color stream must have RGB 8 bit (RGB8/BGR8) pixel format

  • The depth stream must have 16 bit unsigned int (Z16) pixel format

The output is synchronized color and depth frame pairs with the depth frame aligned to the color frame. Unsynchronized frames will be dropped. With alignment, the depth and color frames have the same viewpoint and resolution. See format documentation here

Warning

A few frames may be dropped if user code takes a long time (>10 frame intervals) to process a frame.

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self)

  2. __init__(self, buffer_size=32)

Parameters

buffer_size (int, optional, default=32) – Size of internal frame buffer, increase this if you experience frame drops.

close(self: open3d.cpu.pybind.t.io.RSBagReader) → None

Close the opened RS bag playback.

static create(filename)

Create RGBD video reader based on filename

Parameters

filename (str) – Path to the RGBD video file.

Returns

open3d.t.io.RGBDVideoReader

get_timestamp(self: open3d.cpu.pybind.t.io.RSBagReader) → int

Get current timestamp (in us).

is_eof(self: open3d.cpu.pybind.t.io.RSBagReader) → bool

Check if the RS bag file is all read.

is_opened(self: open3d.cpu.pybind.t.io.RSBagReader) → bool

Check if the RS bag file is opened.

next_frame(self: open3d.cpu.pybind.t.io.RSBagReader) → open3d.cpu.pybind.t.geometry.RGBDImage

Get next frame from the RS bag playback and returns the RGBD object.

open(self, filename)

Open an RS bag playback.

Parameters

filename (str) – Path to the RGBD video file.

Returns

bool

save_frames(self, frame_path, start_time_us=0, end_time_us=18446744073709551615)

Save synchronized and aligned individual frames to subfolders.

Parameters

  • frame_path (str) – Frames will be stored in stream subfolders ‘color’ and ‘depth’ here. The intrinsic camera calibration for the color stream will be saved in ‘intrinsic.json’

  • start_time_us (int, optional, default=0) – Start saving frames from this time (us)

  • end_time_us (int, optional, default=18446744073709551615) – (default video length) Save frames till this time (us)

Returns

None

seek_timestamp(self, timestamp)

Seek to the timestamp (in us).

Parameters

timestamp (int) – Timestamp in the video (usec).

Returns

bool

property metadata

Get metadata of the RS bag playback.