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20 hours ago •
wh200720041
wh200720041
.bag file topics issue
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
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
