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Laserscan bag to film

asked 2013-01-09 21:08:07 -0500

Josch gravatar image

updated 2013-01-09 21:15:49 -0500

Hi everyone,

i'm looking for a method to automatically generate films from laserscan bags. Important is that it's also possible to set the camera perspective.

So far i've been thinking about extracting PCD files, extracting images from the PCD file and stringing them together. But i didn't find any possibility to use my own camera perspective for taking the picture.

Does anyone have any idea how to do this? Except writing a hole new engine... Does OpenCV maybe offer some useful methods for that?

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answered 2013-01-09 22:42:01 -0500

dornhege gravatar image

I'd try to do this with rviz. You could set camera views there (I'm not sure if it's possible programmatically).

To record this, I'd just do screencaps.

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answered 2013-01-10 20:48:21 -0500

Josch gravatar image

updated 2013-01-14 00:34:28 -0500

Thanks for the help dornhege

I found a single guy having a question about a similar scenario. He used Gazebo/RViz and recorded the OpenGL frames via glc. The camera pose can be set via an urdf link or gazebo with a small plugin. He used a simulation though, so when i try to play Bags i'll have to use RViz only.

Here is the Q&A Thread name: programatically-set-the-camera-pose-in-gazebo-or-rviz/

EDIT: I just realized that i can't really visualize the bags in Gazebo, so i will have to move the RViz camera pose.

EDIT 2: For everyone still searching: Probably the most comfortable solution is to write a RViz plugin which is remotely starting your recording tool (e.g. glc, gstreamer based recording tool) and plays the rosbag files. You can do all the typical RViz settings and what you see in RViz is what you get in the recorded movie file.

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Asked: 2013-01-09 21:08:07 -0500

Seen: 180 times

Last updated: Jan 14 '13