extract-and-sync
Tool for extracting images from a rosbag and syncing them with a given TF transform available on github.com
Usage
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:
/path/to/output-dir
| image_00000.png
| image_00001.png
| ...
| pos_00000.txt
| pos_00001.txt
| ...
└───numpy
| poses.npy
To print help, run:
./sync_position_with_image.sh -h