Tool for extracting images from a ROSBAG and syncing them with a given TF transform available on github.com


If you want to specify both source and targe frame ids, run:

./sync_position_with_image.sh \
  -f source-frame-id \
  -t target-frame-id \
  -i ros-image-topic \
  -b /path/to/a/rosbag.bag \
  -o /path/to/output-dir

By default, the source-frame-id is /map and the target-frame-id is DJI/gimbal_base/camera. If you want to have the gimbal transformation included in your TF tree, check out my dji_gimbal repository.

You can also output the transformation’s orientation in Euler angles. If you wish to do so, pass in -e flag.

The output directory will have the following structure:

|   image_00000.png
|   image_00001.png
|   ...
|   pos_00000.txt
|   pos_00001.txt
|   ...
    |   poses.npy

To print help, run:

./sync_position_with_image.sh -h