Bag to Depth and RGB

This code is usefull for grabbing RGB and depth data from BAG file of ros in python and C++

The Python Code saves in both jpg and numpy pickle. Where as the C++ Code saves only in jpg

What is needed

cd src/bag2rgbdepth/scripts/

Arange the bag files in diffrent folders for each bag file as below

Bag folder1
- bagfile1.bag
Bag folder2
- bagfile2.bag
grabrgb.py
grabdepth.py
truedepthandrgb.sh
How to run

step 1: Run ros.sh using sh ros.sh on one terminal

step 2: Open another terminal and run sh truedepthandrgb.sh

step 3: Wait

The folder strcture now will be

First you will need to build the code

Open launch file in launch folder

vim Bag_to_Depth/src/bag2rgbdepth/launch/extractbag_to_rgbd.launch

Edit the line where it says

<param name="folder_extract_location" value="./"/>

Change the value to the folder where you need to extract the images. The code will add the rgb and depth files.

Excute the below bash script

cd Bag_to_Depth/
catkin_make
source devel/setup.bash
roslaunch bag2rgbdepth extractbag_to_rgbd.launch

Meanwhile in another terminal run these two commands

roscore &
rosbag play bagfile1.bag

The folder strcture now will be