I just can not figure out how to get a reliable recording of some point cloud data. I’m not sure if its my PC limitation (I have decent write speeds, and an RTX 3090), or if I’m doing something fundamentally wrong. So please give me advice!
End goal: Record RGBD and Color from 3 ORBBECS Simultaneously. Ideal on one pc, but if it has to be distributed across 3, that’s better than nothing.
Problems:
I don’t know enough about video codecs to know if any of the ones in TD support 32bit recording. I’m wondering if there might be a way to import a different, better codec into TD for this task. Even when recording with ones that (according to google AI) “support 32bit lossless” sometimes when recording is active → it says recording 32-bit on the TOP, but when loading the video back into TD it becomes 16 bit or 8 bit. I have a file with a variety of example recording methods attached.
whatAmIDoingWrong.16.toe (8.5 KB)
If I try for open exr image sequence, the performance framerate fluctuates spontaneously. Perhaps a result of the viewers being on, but occasionally when turning off the viewers for the ORBBEC RGBD, the image freezes and doesn’t seem to update anymore until disconnecting and reconnecting. I’m not sure if this is a bug, it also sometimes crashes when this happens but I have no crashsave log.
Then I tried the Pack TOP Method to simply record in 8bit lossless. Seems 1280x720 * 4 resolution is too big to record so framerate drops to almost 1. I cropped/split the packed result, and even in parallel recordings the performance drops similarly.
Ive tried contacting orbbec support as from the ORBBEC Viewer software, it seems possible to record RGB XYZ data from 3 cameras simultaneously on the same PC at about 30fps, basically no performance loss when using their own software. Responses have been pretty slow over a few months, but basically from their output format (custom .rosbag) I’m unable to extract the images data on a ROS Linux system, unable through python, and they’ve only said it won’t work outside of their software.
So basically I’ve encountered a lot of problems for this task which I have a suspicion shouldn’t be outside the realm of possibilities. If anyone has done similar work, I would greatly appreciate your suggestions!
Thanks in advance 