Camera streams persistence

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Camera streams persistence

Antoine Rennuit
Hello all,

I am wondering what is the preferred way of storing sequences of point
clouds in PCL.

Let me give some more explanations: I am willing to shoot a scene with a
Kinect and record (in a movie) the depth and confidence images streamed out
of the device - for later replay. As the PCD format seems to be designed for
still snapshots, how would you handle the sequence of images to make a
movie? Is the preferred answer to record a PCD file per image? Is there
another more advanced way to get a full movie in a single file?

Regards,

Antoine.
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Re: Camera streams persistence

VictorLamoine
Administrator
Hello,

OpenNI 2 allows to record the output of a device into an .ONI file. You can later open this .ONI file with OpenNi as a device.
http://www.openni.org/openni-programmers-guide/

It might not be the perfect solution but I think it's a good starting point.
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Re: Camera streams persistence

Antoine Rennuit
Thanks Victor,

I will also check the PCDGrabber which seems to be reading sequences of pcd
files. There also seems to be the ImageGrabber but I am not sure I really
understood what it does...

Antoine.

-----Original Message-----
From: [hidden email]
[mailto:[hidden email]] On Behalf Of VictorL
Sent: lundi 27 janvier 2014 12:56
To: [hidden email]
Subject: Re: [PCL-users] Camera streams persistence

Hello,

OpenNI 2 allows to record the output of a device into an .ONI file. You can
later open this .ONI file with OpenNi as a device.
http://www.openni.org/openni-programmers-guide/

It might not be the perfect solution but I think it's a good starting point.



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Re: Camera streams persistence

martyvona
In reply to this post by Antoine Rennuit
Hi Antoine -

I'm not sure if anyone else can confirm this, but we found that saving oni with NiViewer seemed to be susceptible to "hiccups" where some frames are dropped after about 30s of recording.  Possibly due to disk buffer flushing, and possibly platform dependent.

We found that the best option in pcl or openni to save frames is pcl_openni_image.  We also just posted our imucam utility which is compatible with that but has some extra options.

http://www.ccs.neu.edu/research/gpc/imucam/index.html

More info here:

https://wiki.ccs.neu.edu/display/GPC/OpenNI+and+PCL+Recording+Codes

http://www.pcl-users.org/Carmine-1-09-support-tp4026939p4032212.html

Marty
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Re: Camera streams persistence

Radu B. Rusu
Administrator
I confirm Marty’s findings. The reason why we wrote our own LZF-compressed depth/rgb image writer, is because ONI couldn’t handle sustained 30fps.

Best,
Radu.

On Feb 10, 2014, at 8:46 AM, martyvona <[hidden email]> wrote:

> Hi Antoine -
>
> I'm not sure if anyone else can confirm this, but we found that saving oni
> with NiViewer seemed to be susceptible to "hiccups" where some frames are
> dropped after about 30s of recording.  Possibly due to disk buffer flushing,
> and possibly platform dependent.
>
> We found that the best option in pcl or openni to save frames is
> pcl_openni_image.  We also just posted our imucam utility which is
> compatible with that but has some extra options.
>
> http://www.ccs.neu.edu/research/gpc/imucam/index.html
>
> More info here:
>
> https://wiki.ccs.neu.edu/display/GPC/OpenNI+and+PCL+Recording+Codes
>
> http://www.pcl-users.org/Carmine-1-09-support-tp4026939p4032212.html
>
> Marty
>
>
>
> --
> View this message in context: http://www.pcl-users.org/Camera-streams-persistence-tp4031930p4032215.html
> Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users

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Re: Camera streams persistence

Antoine Rennuit
In reply to this post by martyvona
Hum... I guess at some point there will be a need for a proper format for depth + confidence (or say IR) movies. Especially with OpenNI not being a standard anymore...

Thanks for your pointers to interesting links !

PS: did you actually use IMUCam to combine IMU and SLAM in order to precondition the ICP and thus reduce the number of iterations of the ICP.

Antoine.

> Date: Mon, 10 Feb 2014 08:46:23 -0800

> From: [hidden email]
> To: [hidden email]
> Subject: Re: [PCL-users] Camera streams persistence
>
> Hi Antoine -
>
> I'm not sure if anyone else can confirm this, but we found that saving oni
> with NiViewer seemed to be susceptible to "hiccups" where some frames are
> dropped after about 30s of recording. Possibly due to disk buffer flushing,
> and possibly platform dependent.
>
> We found that the best option in pcl or openni to save frames is
> pcl_openni_image. We also just posted our imucam utility which is
> compatible with that but has some extra options.
>
> http://www.ccs.neu.edu/research/gpc/imucam/index.html
>
> More info here:
>
> https://wiki.ccs.neu.edu/display/GPC/OpenNI+and+PCL+Recording+Codes
>
> http://www.pcl-users.org/Carmine-1-09-support-tp4026939p4032212.html
>
> Marty
>
>
>
> --
> View this message in context: http://www.pcl-users.org/Camera-streams-persistence-tp4031930p4032215.html
> Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users

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