将时间戳不同的点云和图像进行时间戳同步；把bag包里的图像和点云分割成一帧一帧的；把pcd转成bin格式。

1。将时间戳不同的点云和图像进行时间戳同步

1。1 rqt_bag ***.bag 可以查看bag的时间戳

1.2.rosbag info ***.bag

rosbag info 2021-04-19-12-26-14.bag
path:        2021-04-19-12-26-14.bag
version:     2.0
duration:    34.9s
start:       Apr 19 2021 12:26:14.40 (1618806374.40)
end:         Apr 19 2021 12:26:49.31 (1618806409.31)
size:        1.8 GB
messages:    700
compression: none [700/700 chunks]
types:       sensor_msgs/Image       [060021388200f6f0f447d0fcd9c64743]
             sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
topics:      /lmx_image   350 msgs    : sensor_msgs/Image      
             /lmx_pc      350 msgs    : sensor_msgs/PointCloud2

1.3 代码参考：https://blog.csdn.net/qq_35632833/article/details/105666950

Cmakelists.txt

cmake_minimum_required(VERSION 3.0.2)
project(lidar_img_syn)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  sensor_msgs
  message_filters 
)

find_package(PCL 1.7 REQUIRED)

catkin_package(
   CATKIN_DEPENDS
   roscpp
   std_msgs
   sensor_msgs
   message_filters 
   )

include_directories(include ${catkin_INCLUDE_DIRS})

include_directories(include ${PCL_INCLUDE_DIRS})

add_executable(lidar_img_syn_lmx src/lidar_img_syn_node.cpp)
target_link_libraries (lidar_img_syn_lmx ${catkin_LIBRARIES})

代码部分，注意生成的结果时间戳不是相同的，是基本相近的。

#include "ros/ros.h"    
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/Image.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>


#include <iostream>

using namespace std;
using namespace sensor_msgs;
using namespace message_filters;

ros::Publisher PointCloudInfo_pub;
ros::Publisher ImageInfo_pub;

PointCloud2 syn_pointcloud;
Image syn_iamge;

void Syncallback(const PointCloud2ConstPtr& ori_pointcloud,const ImageConstPtr& ori_image)
{
    cout << "\033[1;32m Syn! \033[0m" << endl;
    syn_pointcloud = *ori_pointcloud;
    syn_iamge = *ori_image;
    cout << "syn pointcloud' timestamp : " << syn_pointcloud.header.stamp << endl;
    cout << "syn image's timestamp : " << syn_iamge.header.stamp << endl;
    PointCloudInfo_pub.publish(syn_pointcloud);
    ImageInfo_pub.publish(syn_iamge);
}

int main(int argc, char **argv)
{

    ros::init(argc, argv, "hw1");
    ros::NodeHandle node;

    cout << "\033[1;31m hw1! \033[0m" << endl;

    // 建立需要订阅的消息对应的订阅器
    message_filters::Subscriber<PointCloud2> PointCloudInfo_sub(node, "/rslidar_points", 1);
    message_filters::Subscriber<Image> ImageInfo_sub(node, "/zed/zed_node/left/image_rect_color", 1);
    
    typedef sync_policies::ApproximateTime<PointCloud2, Image> MySyncPolicy; 
    
    Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), PointCloudInfo_sub, ImageInfo_sub); //queue size=10
    sync.registerCallback(boost::bind(&Syncallback, _1, _2));


    PointCloudInfo_pub = node.advertise<PointCloud2>("/djq_pc", 10);
    ImageInfo_pub = node.advertise<Image>("/djq_image", 10);

    ros::spin();
    return 0;
}

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2。把bag包里的图像和点云分割成一帧一帧的，

参考自：

https://blog.csdn.net/zbr794866300/article/details/107830939

1。提取点云为pcd

rosrun pcl_ros bag_to_pcd <*.bag> <topic> <output_directory>

2。提取图像包括时间戳

需要修改1）设置图片保存路径 2）包的名称 3）图像话题的名称

#coding:utf-8
 
import roslib;  
import rosbag
import rospy
import cv2
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from cv_bridge import CvBridgeError
 
path='/home/zbr/bagfile/image/' #存放图片的位置
class ImageCreator():
 
 
    def __init__(self):
        self.bridge = CvBridge()
        with rosbag.Bag('water3.bag', 'r') as bag:   #要读取的bag文件；
            for topic,msg,t in bag.read_messages():
                if topic == "/usb_cam/image_raw":  #图像的topic；
                        try:
                            cv_image = self.bridge.imgmsg_to_cv2(msg,"bgr8")
                        except CvBridgeError as e:
                            print e
                        timestr = "%.6f" %  msg.header.stamp.to_sec()
                        #%.6f表示小数点后带有6位，可根据精确度需要修改；
                        image_name = timestr+ ".jpg" #图像命名：时间戳.jpg
                        cv2.imwrite(path+image_name, cv_image)  #保存；
 
 
if __name__ == '__main__':
 
    #rospy.init_node(PKG)
 
    try:
        image_creator = ImageCreator()
    except rospy.ROSInterruptException:
        pass

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3。把pcd转成bin格式。

https://gitee.com/lyy54321/Tools_RosBag2KITTI

看了这么久，这个工具箱是最好用的。

 

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1。/home/studieren/shared_dir/bishe_lmx/ros_package/src/lidar_img_syn

3。/home/studieren/syc_data/get_image.py

4。/home/studieren/syc_data/pcd2bin