Extract Frames

The algorithm extracts data from an RGB-D sequence in various formats

Input

Takes an RGB-D sequence as input.

Output

Color frames, depth frames, point cloud and RGB-D sequence depending on output configuration.

Description

The algorithm takes as input an RGB-D sequence and based on the configured parameters exports subsets of it in different formats.

The frame range to export is configured via Export frame range in the format [Start frame] [Number of frames]. The start frame is 0 indexed. If the number of frames is -1 all frames until the end of the sequence starting from the start frame are exported.

With Export frame step the step between frames in the export range is configured. A value of 1 means that every frame is exported, 2 means every second frame is exported and so on.

With Export frame from sensors a list of 0 indexed sensors can be selected in case of multi sensor RGB-D sequences. In this case frames of each of these sensors are exported.

Max depth allows to set a cut-off parameter on the depth value during export. Pixels with larger depth are set to 0 in the output depth images.

Export color images, Export depth images and Export point clouds controls whether the respective frame information is exported.

Export playback enables the export of the frame range as a new RGB-D sequence.

Include color in point cloud controls whether the exported point clouds are colored with the frame colors or are returned without color information.