vertex normal information is not present in ply file generated from bag file

[rupeshchandgude]

|---------------------------------|------------------------------------------- |
| Camera Model | D435 |
| Firmware Version | RealSense Viewer |
| Operating System & Version | Ubuntu 16 |
| Platform | PC |
| Language | python |

Issue Description

I have generated bag file using Realsense Viewer. After I convert it into ply file using following code:

pc = rs.pointcloud()
points = rs.points()
pipeline = rs.pipeline()
config = rs.config()
rs.config.enable_device_from_file(config,bag_file,repeat_playback=False)
pipeline.start(config)
colorizer = rs.colorizer()
align_to = rs.stream.color
align = rs.align(align_to)
frames = pipeline.wait_for_frames()
frames = align.process(frames)
depth_frame = frames.get_depth_frame()
color = frames.get_color_frame()
depth_color_frame = colorizer.colorize(depth_frame)
depth_color_image = np.asanyarray(depth_color_frame.get_data())
pc.map_to(depth_color_frame)
points = pc.calculate(depth_frame)
points.export_to_ply('temp.ply',color)

Generated ply file does not have vertex normal information in it. Is there any way to add vertex normal information while generating ply file or after generating ply file?

[lramati]

You would have to turn the pointcloud into a mesh and then calculate vertex normals based on that mesh. I think PCL gets recommended frequently by people here for doing these kinds of things, although that appears to be a C++ project

[rupeshchandgude]

thanks @lramati I will try that out.

[dorodnic]

@rupeshchandgude - latest viewer includes options to export with normals. Thank you for the feedback

[rupeshchandgude]

@dorodnic Thanks for update.

[AlexSeongJu-sr]

@dorodnic
Hi there. I have the same issue, but in my case, I should do it in python code, not realsense-viewer. Is there a way to get .ply file with both rgb color & vertex normals with python code?
my issue is in #6194. I guess u know how to do it maybe..
thanks in advance.

[lramati]

check out the save_to_ply object