parsing ROSBag files with sync data

Dependencies

• OpenCV (with Contrib)
• Eigen
• ROS
• cv_bridge
• sensor_msgs
• Realsense-ros

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Parameters (config.yaml in config folder)

(1) SAVE_IMG

• Not save images → 0
• Save images → 1

(2) PUBLISH_SYNCED_IMGS

• Use publish ROS topic → true
• Not use publish ROS topic → false

(3) DIFF_THRESHOLD

• Set different between current time and lastest time → ${VALUE}

(4) SYNC_GT_TIME

• Sync with GT and image time → true
• Not use GT info → false

(5) SIM_THRESHOLD

• To set GT boundary near by current image → ${VALUE}

(6) std::string gt_path

• To write GT absolute path → ${STRING}

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Build and Run

Clone the repository and build and run simultaneously:

   $ cd catkin_ws/src
   $ git clone https://github.com/SungJaeShin/parsingROSBag.git
   $ cd ../../
   $ catkin config -DCMAKE_BUILD_TYPE=Release
   $ catkin build parsingROSBag
   $ source devel/setup.bash
   $ sh start_parsing.sh

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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
  

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Output Data

(1) sensor_msgs::Image

• /sync_color
• /sync_depth
• /sync_infra1

(2) Save Sync Color and Depth 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 0.25)

(3) Save the Image Concerning Sync Color time and GT time Image (.jpg)

• You can set the time to sync with gt. By adjusting SIM_THRESHOLD, you can set an image that fits the range of GT ! (in this code, setting 0.01)

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Exmaple

• example of ar table dataset
  • In the result, the only image is saved as 00002.jpg, and the image parsed according to GT time is saved as gt_2_1662915732.374960.jpg.

GT text file (looking at Line 2)

Only image parsing	Parsing image depend on GT time (line 2)

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Acknowledgement

Thank you Alvin Jinsung Choi for correcting the code error!

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Future Work

• I will sync all other images !