Parse ROS bag to TUM dataset style files.
- 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.