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Updated README with examples of usage of the MIT stata center dataset based on jfr2018 paper. #1350

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matlabbe
2025-09-18 04:43:24 +00:00
parent f601fd43bf
commit f9ad71a7af
12 changed files with 324 additions and 121 deletions
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rtabmap_legacy/launch/jfr2018/extract_stereo.py
+7 -19
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@@ -4,34 +4,22 @@ import sys
from tf.msg import tfMessage
if len(sys.argv) < 2:
print 'Usage: $ python extract_stereo.py "2012-01-25-12-14-25"'
print('Usage: $ python extract_stereo.py "2012-01-25-12-14-25"')
sys.exit(0)
bagName = sys.argv[1]
with rosbag.Bag(bagName + '_stereo.bag', 'w') as outbag:
print 'Processing ' + bagName + '.bag...'
leftCamInfoStatus = True
leftImageStatus = True
rightCamInfoStatus = True
rightImageStatus = True
print(f'Processing {bagName}.bag...')
for topic, msg, t in rosbag.Bag(bagName + '.bag').read_messages():
if topic == "/tf":
outbag.write(topic, msg, t)
elif topic == "/wide_stereo/left/camera_info":
if leftCamInfoStatus:
outbag.write(topic, msg, t)
leftCamInfoStatus = not leftCamInfoStatus
outbag.write(topic, msg, t)
elif topic == "/wide_stereo/right/camera_info":
if rightCamInfoStatus:
outbag.write(topic, msg, t)
rightCamInfoStatus = not rightCamInfoStatus
outbag.write(topic, msg, t)
elif topic == "/wide_stereo/left/image_raw":
if leftImageStatus:
outbag.write(topic, msg, t)
leftImageStatus = not leftImageStatus
outbag.write(topic, msg, t)
elif topic == "/wide_stereo/right/image_raw":
if rightImageStatus:
outbag.write(topic, msg, t)
rightImageStatus = not rightImageStatus
outbag.write(topic, msg, t)
print 'Output: ' + bagName + '_out.bag'
print(f'Output: {bagName}_stereo.bag')