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Can you convert a color topic from a bag file to monochrome ?

asked 2016-11-16 05:28:42 -0500

ap gravatar image

Hi I am using the ethzasl_ptam package. It requires monochrome images. I want to use RGB-D bag files. The images come in on the /camera/rgb/image_color topic.

Is there a way convert a color topic from a bag file to monochrome ?

Or do I have to convert the bag file to images and then convert the color images to monochrome ?

And if so, how do I then use the images with ethzasl_ptam ?

Thank you!

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answered 2016-11-17 16:03:55 -0500

lucasw gravatar image

You can use an image_proc node http://wiki.ros.org/image_proc , have it subscribe to your image_color and then you will get an image_mono output.

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Thanks for the reply. Had a look at image_proc. Looks like it subscribes to the image_raw topic. Is there a way I can make it subscribe to "/camera/rgb/image_color" instead ? I don't have the image_raw topic in the bag file. Thanks

ap gravatar image ap  ( 2016-11-24 03:17:38 -0500 )edit

rosrun image_proc image_proc image_raw:=/camera/rgb/image_color __ns:=/camera/rgb/converted -> remap the image_raw topic to your topic, and put the namespace where image_proc won't conflict with other topics http://wiki.ros.org/Remapping%20Argum...

lucasw gravatar image lucasw  ( 2016-11-25 08:23:41 -0500 )edit

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Asked: 2016-11-16 05:28:42 -0500

Seen: 313 times

Last updated: Nov 17 '16