- This repo contains the information how to seperate the RGB and D stream with their meta data and encode it and reproduce point cloud from it.
- The original file is stored at: \server\PampusData\Ashu\CWIPC_RGBD
- By using the FFmpeg commands, we can extract the streams, but we can not play the streams using Kinnect Aizure Viewer
- This is needed, otherwise, we can not construct a point cloud from the video (RGB + D + IR + Calibration data) that we have
- We use MKVToolNIX to extract the streams
- For RGB, No tags is needed and also no global tags
- For D, Local tags is needed, but no global is needed
- For IR, the stream was extrated, but it can not be opened in Kinnect Aizure Viewer
- MKVToolNIX is used to combine the RGB and D streams along with their tags and Global Tags.
- We will use CWIPC to construct the point cloud
- RGB_D along with their tags and Global Tags is stored in a single file RGB_D.mkv and can be accessed at: \server\PampusData\Ashu\CWIPC_RGBD
- CameraConfigFile is also stored at:\ \server\PampusData\Ashu\CWIPC_RGBD
- Command to create the point cloud is: cwipc_grab --k4aoffline --binary --fpattern timestamp:08d --inpoint 5727933 --outpoint 36561266 --nodrop --outliers 30 1.1 1 ply
- Extracting images for RGB Video.
ffmpeg -i RGB.mkv -map 0:0 -vsync 0 -c:v copy RGB-%04d.png
ffmpeg -i .\RGB_WithMeta.mkv RGB-%04d.png
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The below four commands could be used to reconstruct the RGB file.
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ffmpeg -i RGB-%04d.png -pix_fmt yuv420p -r 30 -s 2048:1536 RG1.mkv
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ffmpeg -f image2 -framerate 30 -i RGB-%04d.png -s 2048x1536 -pix_fmt yuv422p rg.mkv
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ffmpeg -framerate 30 -i RGB-%04d.png -c:v mjpeg -s 2048x1536 -pix_fmt bgr24 RGB_2.mkv
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ffmpeg -framerate 30 -i RGB-%04d.png -c:v copy --enable-decoder=mjpeg,png RGB_1.mkv