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43 lines
1.3 KiB
43 lines
1.3 KiB
function rosbag_example(filename)
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% Make Config object to manage pipeline settings
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cfg = realsense.config();
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validateattributes(filename, {'char','string'}, {'scalartext', 'nonempty'}, '', 'filename', 1);
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% Tell pipeline to stream from the given rosbag file
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cfg.enable_device_from_file(filename)
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% Make Pipeline object to manage streaming
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pipe = realsense.pipeline();
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% Make Colorizer object to prettify depth output
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colorizer = realsense.colorizer();
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% Start streaming from the rosbag with default settings
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profile = pipe.start(cfg);
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% Get streaming device's name
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dev = profile.get_device();
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name = dev.get_info(realsense.camera_info.name);
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% Get frames. We discard the first couple to allow
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% the camera time to settle
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for i = 1:5
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fs = pipe.wait_for_frames();
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end
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% Stop streaming
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pipe.stop();
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% Select depth frame
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depth = fs.get_depth_frame();
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% Colorize depth frame
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color = colorizer.colorize(depth);
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% Get actual data and convert into a format imshow can use
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% (Color data arrives as [R, G, B, R, G, B, ...] vector)
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data = color.get_data();
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img = permute(reshape(data',[3,color.get_width(),color.get_height()]),[3 2 1]);
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% Display image
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imshow(img);
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title(sprintf("Colorized depth frame from %s", name));
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end
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