ROS通过小觅相机录制包，并且提取图片

1. 录制包

1.1 发布话题

roscore

mynt相机发布topic

cd <sdk> //MYNT-EYE-S-SDK
make ros

#Run

source wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch

With RViz to preview

source wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper display.launch

＃以上命令链接
https://blog.csdn.net/ZHAGNQ/article/details/84036776
https://github.com/slightech/MYNT-EYE-S-SDK/tree/master/wrappers/ros

1.2 使用rosbag记录.bag文件（录制数据子集）

ROS 提供了改变 topic 发布频率的节点throttle, （通常设备采集的频率为 20-60 hz, 这会使得标定的图像过多, 而导致计算量太大. 最好将ros topic的频率降低到4hz左右进行采集.）指令如下 :

rosrun topic_tools throttle messages /mynteye/left/image_raw 4.0 /left
     
rosrun topic_tools throttle messages /mynteye/right/image_raw 4.0 /right

对左右目的ros topic降低频率后就可以制作bag了

rosbag record -O stereo_calibra.bag /left /right

rosbag record -O newbag /mynteye/left/image_raw /mynteye/right/image_raw /mynteye/left_rect/image_rect /mynteye/right_rect/image_rect

2. 提取包中图片

1、通过cam/image_raw话题
创建launch文件，如下：
export.launch

 <launch>
 	<node pkg="rosbag" type="play" name="rosbag" required="true" args="-d 2 /home/jinln/jinln/DATASET/MYNT/stereo_calibra.bag"/>
	<node name="extract" pkg="image_view" type="extract_images" respawn="false" required="true" output="screen" cwd="ROS_HOME">
	// <remap from="image" to="/left"/>
	<remap from="image" to="/right"/>
	 </node>
</launch>

２．然后，运行launch文件
开一个终端，运行

roscore

打开一个终端，cd到export.launch所在路径下，运行

roslaunch export.launch

3.所提取的图片在~/.ros路径下，将其移到你的目标文件中，如：

cd ~
mkdir Example
mv ~/.ros/*.jpg ~/Example