Bag to Depth and RGB

This code is usefull for grabbing RGB and depth data from BAG file of ros in python

What is needed

• A good installation of ROS
• Numpy
• python
• CVbridge

How to execute ?

Pre-Run requirements

Arange the bag files in diffrent folders as below

• Bag folder1
  • bagfile.bag
• Bag folder2
  • bagfile2.bag
• grabrgb.py
• grabdepth.py
• truedepthandrgb.sh

How to run

step 1: Run ros.sh using sh ros.sh on one terminal

step 2: Open another terminal and run sh truedepthandrgb.sh

step 3: Wait

What after it executes

The folder strcture now will be

• Bag folder1
  • bagfile.bag
  • depth_images1
    • frame1.jpg
    • frame1.npy
    • ...
    • framen.jpg
    • framen.npy
  • rgb_images1
    • frame1.jpg
    • frame1.npy
    • ...
    • framen.jpg
    • framen.npy
• Bag folder2
  • bagfile2.bag
  • depth_images1
    • frame1.jpg
    • frame1.npy
    • ...
    • framen.jpg
    • framen.npy
  • rgb_images1
    • frame1.jpg
    • frame1.npy
    • ...
    • framen.jpg
    • framen.npy