Added Script to Convert Sensor Data to ROS ".bag" Files#109
Merged
Averyyy merged 11 commits intoinfra_a_mainfrom Feb 17, 2025
Merged
Added Script to Convert Sensor Data to ROS ".bag" Files#109Averyyy merged 11 commits intoinfra_a_mainfrom
Averyyy merged 11 commits intoinfra_a_mainfrom
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A script was written to convert images, depth maps, and point clouds to a ROS .bag file. The script assumes that all the data is in a single directory and it sorts it by file type, then matches all the 3 file types by looking at the order in which they were collected. For example, color1.png is matched with depth1.tif and lidar1.npz.
The script can be run from the terminal by specifying the directory where the data is located and where the bag file will be saved.
To visualize the .bag file, split the terminal and run in the first one:
rosbag play output.bagand in the second one:
rvizIn RVIZ, add the data from the sensors by pressing "Add" in the bottom left corner and select which data you want to examine using the "By topic" option. RGB images and depth maps will appear in the bottom left corner of the window and point clouds will appear in the 3D map. You will be able to see the point clouds by setting "Fixed Frame" under "Global Options" to "Velodyne".