bag2tum

Parse ROS bag to TUM dataset style files.

Steps

• First step

Choose the folder to save your dataset, say "~/image". You need to create rgb and depth folders to store images. It looks like this:

image
├── depth
└── rgb

• Second step

Change the save_folder,rgb_topic and depth_topic parameters to yours in bag2tum.launch file.

roslaunch bag2tum bag2tum.launch

• Third step

Play bag file

rosbag play *.bag

• At last, you will get rgb images, depth images, rgb.txt and depth.txt.