bag_to_image
Extract images and timestamps from a rosbag file.
Author: David Zuñiga-Noël
License: GPLv3
1. Dependencies
-
CMake (3.5.1-1ubuntu1)
sudo apt install cmake -
ROS (Kinetic Kame)
See ROS installation.
-
Gflags (2.1.2-3)
sudo apt install libgflags-dev -
libpng (1.2.54-1ubuntu1.1)
sudo apt install libpng-dev
2. Build
Once all dependencies are installed, proceed to build the source code with the automated build script provided. Simply run the following commands:
git clone https://github.com/dzunigan/bag_to_image.git
cd bag_to_image
bash build.sh
The compiled executable should be inside the bin directory.
3. Data Format
The input is a rosbag file and the topic where the images were published. The output is the sequence of images, compressed in PNG format and a CSV file with correspoinding timestamps in nanoseconds.
4. Usage
The bag_to_image tool can invoked as follows:
bag_to_image [options] <rosbag> <topic>
where the available options are:
-
--output_path=desired_path: to set the output root directory -
--images_dir=desired_dir: to set the images directory name (inside output directory) -
--timestamps_file=desired_file: to set the output timestamps filename (inside output directory) -
--compression_level=compression_level: to set the PNG compression level (between 0-9) -
--show_images: to preview the images during extraction