首先看一下教程：

http://wiki.ros.org/openni_launch/Tutorials/BagRecordingPlayback

知道了rosbag如何进行使用记录深度数据

但是按照以上教程记录下来的bag file还是很大

于是看了别人写的launch file

摘抄自spencer_people_tracking

<!-- Launch file for playing bagfiles recorded with the SPENCER robot platform -->

<launch>

  <!-- CONFIGURABLE ARGUMENTS -->

  <arg name="files" default=""/>

  <arg name="folder" default=""/>

  <arg name="urdf" default="false"/>

  <arg name="remap_tf" default="true" if="$(arg urdf)"/>

  <arg name="remap_tf" default="false" unless="$(arg urdf)"/>

  <arg name="depth" default="true"/>

  <arg name="no_point_clouds" default="false" />

  <arg name="front_rgbd" default="true"/>

  <arg name="rear_rgbd" default="true"/>

  <arg name="laser" default="true"/>

  <arg name="uncompress_rgbd" default="true"/>

  <arg name="tracked_persons" default="true"/>

  <arg name="velodyne" default="false"/>

  <!-- Playback options -->

  <arg name="rqt" default="false"/>

  <arg name="pause" default="true"/>

  <arg name="initial_wait_time" default="0.0" if="$(arg pause)"/>

  <arg name="initial_wait_time" default="45.0" unless="$(arg pause)"/>

  <arg name="loop" default="false"/>

  <arg name="start" default="0.0"/> <!-- seconds into the bagfile at which to start playing -->

  <arg name="duration" default="99999999.9"/> <!-- number of seconds to play -->

  <arg name="rate" default="1.0"/> <!-- playback speed -->

  <arg name="required" default="true" />

  <!-- Visualization options -->

  <arg name="visualization" default="true" /> <!-- whether to run RViz with provided config, or not -->

  <arg name="panoramas" default="false"/>

  <arg name="relay_rgbd_for_visualization" default="true"/>

  <arg name="rviz_config_file" default="$(find spencer_bagfile_tools)/launch/components/visualization_robot.rviz"/> <!-- configuration file for RViz to use, if visualization is enabled -->

  <arg name="rosbag_play_args" default="--clock --queue=5 --delay=0 --start=$(arg start) --duration=$(arg duration) --rate=$(arg rate)" /> <!-- extra arguments used to play back the bagfile -->

  <!-- Important: Use simulated time published on /clock topic, otherwise TF will be broken -->

  <param name="/use_sim_time" value="true"/>

  <!-- BAG FILE PLAYBACK -->

  <group>

    <remap from="/tf" to="/spencer/sensors/tf_in_bagfile" if="$(arg remap_tf)"/>

    <remap from="/spencer/sensors/clock" to="/clock"/>

    <remap from="/spencer/perception/tracked_persons" to="/spencer/perception/tracked_persons_in_bagfile" unless="$(arg tracked_persons)"/>

    <remap from="/spencer/perception/detected_persons" to="/spencer/perception/detected_persons_in_bagfile" unless="$(arg tracked_persons)"/>

    <!-- Uncompress RGB-D images -->

    <remap if="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_front_top/depth/image_raw/compressedDepth" to="/spencer/sensors/rgbd_front_top/depth_recorded/image_raw/compressedDepth"/>

    <remap if="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_front_top/rgb/image_raw/compressed"    to="/spencer/sensors/rgbd_front_top/rgb_recorded/image_color/compressed"/>

    <remap if="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_front_bottom/depth/image_raw/compressedDepth" to="/spencer/sensors/rgbd_front_bottom/depth_recorded/image_raw/compressedDepth"/>

    <remap if="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_front_bottom/rgb/image_raw/compressed"    to="/spencer/sensors/rgbd_front_bottom/rgb_recorded/image_color/compressed"/>

    <remap if="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_rear_top/depth/image_raw/compressedDepth" to="/spencer/sensors/rgbd_rear_top/depth_recorded/image_raw/compressedDepth"/>

    <remap if="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_rear_top/rgb/image_raw/compressed"    to="/spencer/sensors/rgbd_rear_top/rgb_recorded/image_color/compressed"/>

    <remap if="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_rear_bottom/depth/image_raw/compressedDepth" to="/spencer/sensors/rgbd_rear_bottom/depth_recorded/image_raw/compressedDepth"/>

    <remap if="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_rear_bottom/rgb/image_raw/compressed"    to="/spencer/sensors/rgbd_rear_bottom/rgb_recorded/image_color/compressed"/>

    <!-- Hack if uncompressed depth/image_rect was recorded instead of depth/image_raw as recommended at http://wiki.ros.org/openni_launch/Tutorials/BagRecordingPlayback -->

    <remap unless="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_front_top/depth/image_rect" to="/spencer/sensors/rgbd_front_top/depth/image_raw"/>

    <remap unless="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_front_bottom/depth/image_rect" to="/spencer/sensors/rgbd_front_bottom/depth/image_raw"/>

    <remap unless="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_rear_top/depth/image_rect"  to="/spencer/sensors/rgbd_rear_top/depth/image_raw"/>

    <remap unless="$(arg uncompress_rgbd)" from="/spencer/sensors/rgbd_rear_bottom/depth/image_rect"  to="/spencer/sensors/rgbd_rear_bottom/depth/image_raw"/>

    <!-- This script launches either rosbag play or rqt_bag, and searches for all relevant bag files for the active sensor modalities in the given folder -->

    <node name="playback_wrapper" pkg="spencer_bagfile_tools" type="play.py" output="screen" required="$(arg required)" ns="/spencer/sensors" clear_params="true"> <!-- sub-namespace only applied for relative topic names in bagfile -->

      <!-- Either give a list of files... -->

      <param name="files" value="$(arg files)"/>

      <!-- Or an entire folder containing bagfiles prefixed with laser_, front_rgbd_, etc. -->

      <param name="folder" value="$(arg folder)"/>

      <param name="laser" value="$(arg laser)"/>

      <param name="front_rgbd" value="$(arg front_rgbd)"/>

      <param name="rear_rgbd" value="$(arg rear_rgbd)"/>

      <param name="rqt" value="$(arg rqt)"/>

      <param name="pause" value="$(arg pause)"/>

      <param name="loop" value="$(arg loop)"/>

      <param name="rosbag_play_args" value="$(arg rosbag_play_args)"/>

      <param name="initial_wait_time" value="$(arg initial_wait_time)"/>

    </node>

  </group>

  <!-- TF EXCLUSIONS -->

  <group if="$(arg remap_tf)">

    <remap from="tf_old" to="/spencer/sensors/tf_in_bagfile"/>

    <node name="tf_filter" pkg="spencer_bagfile_tools" type="tf_filter.py" args="_exclude:='[]'"/>

  </group>

  <!-- RGB-D PROCESSING -->

  <group if="$(arg depth)">

    <!-- Uncompress RGB-D -->

    <group if="$(arg uncompress_rgbd)">

      <include file="$(find spencer_bagfile_tools)/launch/components/uncompress_rgbd.launch">

        <arg name="sensor_name" value="rgbd_front_top"/>

      </include>

      <include file="$(find spencer_bagfile_tools)/launch/components/uncompress_rgbd.launch">

        <arg name="sensor_name" value="rgbd_front_bottom"/>

      </include>

      <include file="$(find spencer_bagfile_tools)/launch/components/uncompress_rgbd.launch">

        <arg name="sensor_name" value="rgbd_rear_top"/>

      </include>

      <include file="$(find spencer_bagfile_tools)/launch/components/uncompress_rgbd.launch">

        <arg name="sensor_name" value="rgbd_rear_bottom"/>

      </include>

    </group>

    <!-- Generate point clouds -->

    <group unless="$(arg no_point_clouds)" ns="/spencer/sensors/">

      <!-- Front sensors -->

      <group if="$(arg front_rgbd)">

        <include file="$(find spencer_bagfile_tools)/launch/components/generate_pointcloud.launch">

          <arg name="sensor_name" value="rgbd_front_top"/>

        </include>

        <include file="$(find spencer_bagfile_tools)/launch/components/generate_pointcloud.launch">

          <arg name="sensor_name" value="rgbd_front_bottom"/>

        </include>

      </group>

      <!-- Rear sensors -->

      <group if="$(arg rear_rgbd)">

        <include file="$(find spencer_bagfile_tools)/launch/components/generate_pointcloud.launch">

          <arg name="sensor_name" value="rgbd_rear_top"/>

        </include>

        <include file="$(find spencer_bagfile_tools)/launch/components/generate_pointcloud.launch">

          <arg name="sensor_name" value="rgbd_rear_bottom"/>

        </include>

      </group>

    </group>

  </group>

  <!-- Relay original RGB-D images to throttled visualization topics (for playback, we don't need compression and throttling) -->

  <group if="$(arg relay_rgbd_for_visualization)" ns="relay_rgbd_for_visualization">

    <node pkg="nodelet" type="nodelet" name="manager" args="manager" output="screen"/>

    <include file="$(find spencer_bagfile_tools)/launch/components/relay_rgbd_for_visualization.launch">

      <arg name="camera" value="rgbd_front_top"/>

    </include>

    <include file="$(find spencer_bagfile_tools)/launch/components/relay_rgbd_for_visualization.launch">

      <arg name="camera" value="rgbd_front_bottom"/>

    </include>

    <include file="$(find spencer_bagfile_tools)/launch/components/relay_rgbd_for_visualization.launch">

      <arg name="camera" value="rgbd_rear_top"/>

    </include>

      <include file="$(find spencer_bagfile_tools)/launch/components/relay_rgbd_for_visualization.launch">

      <arg name="camera" value="rgbd_rear_bottom"/>

    </include>

  </group>

  <!-- Create RGB and depth panoramas for visualization -->

  <group if="$(arg panoramas)" ns="/spencer/sensors">

    <node if="$(arg front_rgbd)" name="panorama_rgb_front" pkg="spencer_bagfile_tools" type="panorama_builder" args="_topics:='/spencer/sensors/rgbd_front_top/rgb /spencer/sensors/rgbd_front_bottom/rgb' _inplane_rotations:='0.0 180.0' _vertical:=true _output_topic:='/spencer/sensors/rgbd_front_panorama/rgb'"/>

    <node if="$(arg rear_rgbd)" name="panorama_rgb_rear" pkg="spencer_bagfile_tools" type="panorama_builder" args="_topics:='/spencer/sensors/rgbd_rear_top/rgb /spencer/sensors/rgbd_rear_bottom/rgb' _inplane_rotations:='0.0 180.0' _vertical:=true _output_topic:='/spencer/sensors/rgbd_rear_panorama/rgb'"/>

    <group if="$(arg depth)">

      <node if="$(arg front_rgbd)" name="panorama_depth_front" pkg="spencer_bagfile_tools" type="panorama_builder" args="_topics:='/spencer/sensors/rgbd_front_top/depth /spencer/sensors/rgbd_front_bottom/depth' _inplane_rotations:='0.0 180.0' _vertical:=true _output_topic:='/spencer/sensors/rgbd_front_panorama/depth'"/>

      <node if="$(arg rear_rgbd)" name="panorama_depth_rear" pkg="spencer_bagfile_tools" type="panorama_builder" args="_topics:='/spencer/sensors/rgbd_rear_top/depth /spencer/sensors/rgbd_rear_bottom/depth' _inplane_rotations:='0.0 180.0' _vertical:=true _output_topic:='/spencer/sensors/rgbd_rear_panorama/depth'"/>

    </group>

  </group>

  <!-- VELODYNE POINT CLOUD GENERATION -->

  <group if="$(arg velodyne)">

    <include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch"/>

  </group>

  <!-- ROBOT URDF -->

  <group if="$(arg urdf)">

    <include file="$(find spencer_description)/launch/publish.launch"/>

  </group>

  <!-- VISUALIZATION -->

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config_file)" required="false" if="$(arg visualization)"/>

</launch>

可以看到解压缩，rosbag info 以下别人的bag file

topics:

/spencer/sensors/rgbd_front_top/depth/camera_info 720 msgs : sensor_msgs/CameraInfo
/spencer/sensors/rgbd_front_top/depth/image_raw/compressedDepth 720 msgs : sensor_msgs/CompressedImage
/spencer/sensors/rgbd_front_top/rgb/camera_info 691 msgs : sensor_msgs/CameraInfo
/spencer/sensors/rgbd_front_top/rgb/image_raw/compressed 691 msgs : sensor_msgs/CompressedImage

发现记录的都是压缩格式的深度图，和彩色图

于是需要解压缩

别人的uncompress_rgbd.launch

<launch>

    <arg name="sensor_name"/>

    <group ns="/spencer/sensors/$(arg sensor_name)">
　　　　　<!--注意这里是base topic就是说这个base topic下的所有topic都会被变换-->

        <node name="republish_rgb"   pkg="image_transport" type="republish" args="compressed in:=rgb_recorded/image_color raw out:=rgb/image_raw"/>

        <node name="republish_depth" pkg="image_transport" type="republish" args="compressedDepth in:=depth_recorded/image_raw raw out:=depth/image_raw"/>

    </group>

</launch>

发现用到了image_transport

于是去看

http://wiki.ros.org/image_transport

和

http://wiki.ros.org/image_transport_plugins

下面是本文采用的launch file，使用compressed imge节省了空间

在弄这个launch file 的时候出了错误，rosbag记录正确，但是image_view就是没有图像，问题在于remap出错了，应该放在node里，或者放在rosbag node前面

<launch>

 	<!-- Important: Use simulated time published on /clock topic, otherwise TF will be broken -->

  	<param name="/use_sim_time" value="true"/>

	<node pkg="rosbag" type="play" name="rosbag" args="--clock --queue=5 --delay=0 --start=0 --duration=99999999 --rate=1   --loop $(find vision_obstacles_avoidance)/bags/xtion.bag">

		<remap  from="/vision_obstacles_avoidance/xtion/depth_registered/image_raw/compressedDepth" to="/vision_obstacles_avoidance/xtion/depth_registered_recorded/image_raw/compressedDepth"/>

    	<remap   from="/vision_obstacles_avoidance/xtion/rgb/image_raw/compressed" to="/vision_obstacles_avoidance/xtion/rgb_recorded/image_color/compressed"/>

	</node>

	<!--注意这里是base topic就是说这个base topic下的所有topic都会被变换-->

    <group ns="/vision_obstacles_avoidance/xtion">

		<node name="republish_rgb"   pkg="image_transport" type="republish" args="compressed in:=rgb_recorded/image_color raw out:=rgb/image_raw"/>

		<node name="republish_depth" pkg="image_transport" type="republish" args="compressedDepth in:=depth_registered_recorded/image_raw raw out:=depth_registered/image_raw"/>

    </group>

</launch>

　

rosbag record --duration=15  /vision_obstacles_avoidance/xtion/depth_registered/image_raw/compressedDepth /vision_obstacles_avoidance/xtion/depth_registered/camera_info /vision_obstacles_avoidance/xtion/rgb/image_raw/compressed /vision_obstacles_avoidance/xtion/rgb/camera_info -O xtion

rosbag record --duration=15 /vision_obstacles_avoidance/xtion/depth/image_raw/compressedDepth /vision_obstacles_avoidance/xtion/depth/camera_info /vision_obstacles_avoidance/xtion/rgb/image_raw/compressed /vision_obstacles_avoidance/xtion/rgb/camera_info -O xtion

　

rosbag使用--记录深度相机数据的更多相关文章

  1. 【计算机视觉】深度相机（一）--TOF总结

    http://www.voidcn.com/blog/lg1259156776/article/p-6302915.html 1.1 TOF初探 TOF是Time of flight的简写,直译为飞行 ...

  2. 【计算机视觉】深度相机（九）--OpenNI API及中间件说明

    本文由官方文档翻译而来 总览 目的 OpenNI 2.0 API(应用程序编程接口)提供了访问PrimerSense的兼容深度传感器.这就使得一个应用程序能够初始化传感器和从设备接收深度(depth) ...

  3. 【计算机视觉】深度相机（四）--Realsense概览

    本文参考下文,做一点个人使用补充. http://blog.csdn.net/app_12062011/article/details/52662143 转自: http://blog.csdn. ...

  4. 深度学习数据特征提取：ICCV2019论文解析

    深度学习数据特征提取:ICCV2019论文解析 Goal-Driven Sequential Data Abstraction 论文链接: http://openaccess.thecvf.com/c ...

  5. [Unity3D]深度相机 Depth Camera

    作为3D世界里最重要的窗口,摄像机的应用就显得很重要,毕竟在屏幕上看到的一切都得用摄像机矩阵变换得来的嘛.论坛上看到了一篇帖子讲非天空盒的背景做法,让我想起其实很多界面合成画面可以用摄像机之间的交互来 ...

  6. Atitit.并发测试解决方案(2) -----获取随机数据库记录 随机抽取数据 随机排序 原理and实现

    Atitit.并发测试解决方案(2) -----获取随机数据库记录 随机抽取数据 随机排序 1. 应用场景 1 2. 随机抽取数据原理 1 3. 常用的实现方法:::数据库随机函数 1 4. Mssq ...

  7. Entity Framework入门教程（17)---记录和拦截数据库命令

    记录和拦截数据库命令 这一节介绍EF6怎么记录和拦截发送给数据库的查询和操作命令. 1.记录EF发送给数据库命令(DbContext.Database.Log) 以前给了查看EF发送给数据库的命令我们 ...

  8. ROS与深度相机入门教程-在ROS使用kinect v1摄像头

    ROS与深度相机入门教程-在ROS使用kinect v1摄像头 说明: 介绍在ros安装和使用kinect v1摄像头 介绍freenect包 安装驱动 deb安装 $ sudo apt-get in ...

  9. ASP.NET Web API 记录请求响应数据到日志的一个方法

    原文:http://blog.bossma.cn/dotnet/asp-net-web-api-log-request-response/ ASP.NET Web API 记录请求响应数据到日志的一个 ...

随机推荐

  1. 时间戳转换成日期的js

    在项目开发过程中,我们常常需要把时间戳转换成日期.下面这个是我一直使用的js方法,希望能帮助到有需要的朋友.大家如果有更好的方法,请多多指教! js代码如下: //时间戳转换成日期 function ...

  2. [转]网页ContentType详细列表

    本文转自:来老师的专栏   http://blog.csdn.net/sweetsoft/article/details/6512050 不同的ContentType 会影响客户端所看到的效果.默认的 ...

  3. IntellIJ IDEA 配置 Git，顺带解决Git Push rejected问题

    1.下载便携版本git https://git-scm.com/download/win 弹出的下载取消,重新选择 2.解压自压缩文件. 3.配置IDEA 4.测试 5.配置终端环境shell为bas ...

  4. [洛谷P3376]【模板】网络最大流（ISAP）

    C++ Code:(ISAP) #include <cstdio> #include <cstring> #define maxn 1210 #define maxm 1200 ...

  5. 【POJ 1201 Intervals】

    Time Limit: 2000MSMeamory Limit: 65536K Total Submissions: 27949Accepted: 10764 Description You are ...

  6. 使用adobe pdf去除PDF文档中的批量雷同文本

    一.问题的提出 MgoSoft tiff to pdf软件没有提供中国地区的非VISA用户的购买渠道,中国通常都是银联标识走天下,卡不是VISA买不了这样的软件, 那么, MgoSoft tiff t ...

  7. Ecplise下设置jQuery和ExtJs自动提示

    Spket 1.6.23下载: http://yunpan.cn/cjJYmEcMFIuuN  访问密码 5642 ext jsb下载:http://yunpan.cn/cjJYR7ZTzibQn  ...

  8. java 构造函数问题

    1.构造函数什么时候被调用,被谁调用? 转摘:http://bbs.csdn.net/topics/350231037 当然,只有在NEW的时候,才会真正的创建这个对象,只有在创建时才会调用该类的构造 ...

  9. js闭包，原型，作用域等再一次理解

    要理解闭包,原型等,首先要理解作用域 作用域:就是函数在定义的时候创建的,用于寻找使用到的变量的值的一个索引,而他内部的规则是,把函数自身的本地变量放在最前面,把自身的父级函数中的变量放在其次,把再高 ...

  10. Ubuntu gnome 16.04下的一些个人配置

    虽说并没有改什么,但还是花了我很长时间去搞明白…… 最开始要看下这里,调下比如系统时间等东西 UPD:安装时千万不要对主目录进行加密 1.登录前调整一下触控板和打开小键盘 先打开/etc/gdm3/I ...