Usage

Get PNG from rosbag

Convert data from rgbd camera to png set

roslaunch ip_rosbag_to_img convert_ros2img.launch path_to_bag:=<path_to_bag_file>

Publish PNG alongside rosbag

Publish topic composed of PNG images for verification or pointcloud generation.

roslaunch ip_rosbag_to_img test_img2ros.launch path_to_bag:=<path_to_bag_file>

Results

Gif presenting reconstruction of the depth image from PNG file (bottom) to ROS topic. A little delay is observed due to conversion time.

Video below presents reconstruction of pointcloud data from republished depth image topic. White is original and pink is reconstructed one.

Bottomline

It’s not finished yet :))) Lots of work to be done
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