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How to convert a sequence of registered RGB and depth images into a ROSBAG?

asked 2017-02-17 11:24:36 -0500

davnov134 gravatar image


I would like to use the rgbdslam_v2 package on my own RGB-D data.

My RGB-D data is supplied as a a pair of image sequences, one consisting of depth images and the other one containing the corresponding registered rgb data.

Does anybody please know how to convert this pair of image streams into a rosbag file that could be subsequently used by rgbdslam_v2? The depth camera intrinsics are known ...

Thanks a lot David

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answered 2017-02-18 04:46:00 -0500

NEngelhard gravatar image

rosbag offers APIs for C++ and Python: rosbag API which makes it really easy to put your messages into a bag file.

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@davnov134: take a look at #q233042 as well. Perhaps the script that @Martin Günther wrote can help / provide some inspiration.

gvdhoorn gravatar image gvdhoorn  ( 2017-02-18 05:01:59 -0500 )edit

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Asked: 2017-02-17 11:24:36 -0500

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Last updated: Feb 18 '17