[parsing ROSBag files with sync data]

Github Code

Click Image!

Input Data

(1) sensor_msgs::CameraInfo

• /camera/camera/color/camera_info
• /camera/camera/depth/camera_info
• /camera/camera/infra1/camera_info
• /camera/camera/infra2/camera_info
  

(2) sensor_msgs::CompressedImage

• /camera/camera/color/image_raw/compressed
• /camera/camera/infra1/image_rect_raw/compressed
• /camera/camera/infra2/image_rect_raw/compressed
  

(3) sensor_msgs::Image

• /camera/camera/depth/image_rect_raw
  

---

Output Data

(1) sensor_msgs::Image

• /sync_color
• /sync_depth
• /sync_infra1

(2) Save Sync Color Image (.jpg)

• If you want to save .png extension image, please go to saveSyncImgs funtion and change .jpg to .png !!
• Default saved image is 3 FPS in rosbag time !!
  • If you want to save more images, then please change double value in time_diff statement ! (in this code, setting 0.33)

---

Future Work

• I will sync all other images !