RGB_D

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

Problem using FFmpeg commands

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

ffmpeg -i RGB.mkv -map 0:0 -vsync 0 -c:v copy RGB-%04d.png

ffmpeg -i .\RGB_WithMeta.mkv RGB-%04d.png

The below four commands could be used to reconstruct the RGB file.
ffmpeg -i RGB-%04d.png -pix_fmt yuv420p -r 30 -s 2048:1536 RG1.mkv
ffmpeg -f image2 -framerate 30 -i RGB-%04d.png -s 2048x1536 -pix_fmt yuv422p rg.mkv
ffmpeg -framerate 30 -i RGB-%04d.png -c:v mjpeg -s 2048x1536 -pix_fmt bgr24 RGB_2.mkv
ffmpeg -framerate 30 -i RGB-%04d.png -c:v copy --enable-decoder=mjpeg,png RGB_1.mkv