L515-How to extract poses and the intrinsics of the camera

[Ceciliammm]

librealsense	2.51.1 RELEASE
OS	Windows
Name	Intel RealSense L515
Serial Number	f1371405
Firmware Version	01.05.08.01
Camera Locked	YES
Usb Type Descriptor	3.2
Product Line	L500
Asic Serial Number	0003cbb76779
Firmware Update Id	0003cbb76779

Please provide a description of the problem

[MartyG-RealSense]

Hi @Ceciliammm You can retrieve the L515 camera's intrinsics and the extrinsics (which include translation and rotation) with the pre-made Windows version of the RealSense SDK's rs-enumerate-devices tool using the instructions at #3569 (comment)

[Ceciliammm]

Hi @Ceciliammm You can retrieve the L515 camera's intrinsics and the extrinsics (which include translation and rotation) with the pre-made Windows version of the RealSense SDK's rs-enumerate-devices tool using the instructions at #3569 (comment)

but can I extract the intrinsics and extrinsics from the recorded BAG file of the camera L515?

[MartyG-RealSense]

You can set a bag file as the data source for a script instead of a live L515 camera using the SDK instruction cfg.enable_device_from_file and the script will behave as though a live camera is is being used with it.

If you are able to use Python scripting then #2869 (comment) has a Python script for getting intrinsics with the get_intrinsics instruction.

#10457 has Python scripting for accessing extrinsics with the get_extrinsics_to instruction.

[Ceciliammm]

You can set a bag file as the data source for a script instead of a live L515 camera using the SDK instruction cfg.enable_device_from_file and the script will behave as though a live camera is is being used with it.

If you are able to use Python scripting then #2869 (comment) has a Python script for getting intrinsics with the get_intrinsics instruction.

#10457 has Python scripting for accessing extrinsics with the get_extrinsics_to instruction.

but when I add a bag file as the source, when I run the script that extract intrinsics, something goes wrong with the following result:

[MartyG-RealSense]

In the script at #10457 they had not included cfg.enable_device_from_file in the script to tell the program to use the bag as the data source instead of a live camera.

The enable_device_from_file instruction should also be placed before the pipeline start line, like in the example code at the link below.

https://stackoverflow.com/questions/58482414/frame-didnt-arrived-within-5000-while-reading-bag-file-pyrealsense2

Can you confirm please that your extrinsics-accessing code has the enable_device_from_file instruction and that the instruction is placed before the pipe start line in your script, please?

[Ceciliammm]

In the script at #10457 they had not included cfg.enable_device_from_file in the script to tell the program to use the bag as the data source instead of a live camera.

The enable_device_from_file instruction should also be placed before the pipeline start line, like in the example code at the link below.

https://stackoverflow.com/questions/58482414/frame-didnt-arrived-within-5000-while-reading-bag-file-pyrealsense2

Can you confirm please that your extrinsics-accessing code has the enable_device_from_file instruction and that the instruction is placed before the pipe start line in your script, please?

My problem has been solved. Thank you very much!

[MartyG-RealSense]

You are very welcome, @Ceciliammm - thanks very much for the update!