Recorded Camera Data

RealSense™ SDK 2.0 supports working with pre-recorded data (learn more).

All files below can be opened using the RealSense Viewer (Add Source > Load Recorded Sequence or just drag & drop into the Viewer) In addition, you can make any of the provided examples run from file, by replacing pipe.start() with:

cpp

rs2::config cfg;
cfg.enable_device_from_file(<filename>);
pipe.start(cfg); // Load from file

Note: The sample files below are in the legacy ROS1 .bag format. New recordings use the .db3 (ROS2 rosbag2) format. You can convert .bag files to .db3 using rs-convert -i file.bag -D file.db3.

*.bag files contain uncompressed and unfiltered data and hence tend to be rather large (in the order of 100 MB per one second of recording). The legacy .bag format is an extension of open ROS-bag format, meaning they can also be opened using existing robotics tools like rqt-bag

Disclaimer: The files below are not official marketing material. These are captured using pre-production hardware with the sole purpose of helping developers, makers and students get started with RealSense technology

Files


<a href="https://librealsense.realsenseai.com/rs-tests/TestData/outdoors.bag" title="Outdoors Stereo Example"></a>	Outdoors scene captured with D415 pre-production sample (Depth from Stereo)
<a href="https://librealsense.realsenseai.com/rs-tests/TestData/stairs.bag" title="Staircase Example"></a>	Flight of stairs captured D435 pre-production sample (Depth from Stereo)
<a href="https://librealsense.realsenseai.com/rs-tests/TestData/depth_under_water.bag" title="D415 + Submerged objects"></a>	Scene captured with pre-production D415 device (Depth from Stereo) with objects submerged under water
<a href="https://librealsense.realsenseai.com/rs-tests/TestData/d435i_sample_data.zip" title="D435i_sample"></a>	Outdoor scene with D435i pre-production sample (Depth from Stereo with IMU)