rgbd images from realsense cameras

[tajgr]

• png format for rgb and infrared images (jpeg default),
• rgbd images with help of the rs.align

note: The reason for png is that my colleagues required some lossless format. Moreover, the Multicam support individual resolution and depth_fps now. Some types of realsense cameras required different values (D455 or L515).

[m3d]

• png format for rgb and infrared images (jpeg default),
• rgbd images with help of the rs.align

can you add some motivation? the depth encoded as PNG is much bigger as far as I remember p.s. is it still "work in progress"=draft, or ready for review?

[tajgr]

After a long time, i returned to this PR. @m3d Thanks for comment. I have updated the description. Now it is ready for review.

[tajgr]

Sample log: test-realsense-D400-220112_132945.log

$ python -m osgar.logger ../osgar_logs/test-realsense-D400-220112_132945.log k name bytes | count | freq Hz ----------------------------------------- 0 sys 431 | 4 | 0.7Hz 1 app.rgbd_raw 6859742 | 49 | 8.9Hz 2 app.infra 0 | 0 | 0.0Hz

Total time 0:00:05.488617

[m3d]

@tajgr - please create new "bundle", which will be depth uint16 in millimeters and RGB image (JPEG?). You can drop the camera to robot and robot absolute positions. This new structure will reflect only raw RGBD synchronized data from Realsense and can be easily converted to existing "ROS compatible RGBD bundle". OK? Thanks m. p.s. lidarview can be then extended to support also this type of bundle

[tajgr]

Thanks. I created new bundle where dictionary is used. Yes, it is not exactly what you said. My motivation is structure that could be more universal and more usable in the future. The bundle should always contains "data" and optionally "camera_pose" (maybe better sensor_pose) "robot_pose" or "metadata". The names should be firmly given. Is it ok for you @m3d ? If so i will complete it in Multicam.