The ROS package implements functionality that bridges the gap between rdk and ROS.
Plane segmentation works with ROS bags that contain the /L515_ImageWithDepth rostopic that publishes Intel Realsense L515 RGBD data.
It saves png images of the rgbd data, as well as segmented planes.
Run rosbag_parser/cmd:
go run rosbag_parser/cmd/main.go <path_to_your_rosbag>