Assemble Bag Node, Disassemble Bag Node

Bag is our special data type that combines point cloud, image, pose and camera intrinsic together.

Assemble Bag Node

This node allows us to put together different data and create a bag data as an output.

../../_images/assemble_bag.png

Input

  • Image: rgb image to be put into the bag

  • Depth Image: depth image to be put into the bag

  • Point Cloud: point cloud to be put into the bag

  • Camera intrinsic: camera intrinsic to be put into the bag, usually from camera node, or output from disassemble bag node

  • Pose: pose data to be put into the bag, can be any pose

Note that all fields above are optional, you can combine arbitrary number of fields(at lease one) to create a bag

output

A bag data

Disassemble Bag Node

This node does the reverse process of assemble bag node

../../_images/disassemble_bag.png

Input

A bag data, usually from the output of reader node or assemble bag node

output

Same as the input felids of assemble bag node, a out field contains value if only there is such data in the input bag