采用ROS录制/查看/提取图片

• 录制：生成bag文件
  • roslaunch realsense2_camera rs_camera.launch
  • rosrun rviz rviz

  • rosrun topic_tools throttle messages /camera/color/image_raw 4.0 /color

  • rosbag record -O picture.bag /color

  • ctrl+c停止录制

• 查看bag
  • rosbag play --pause picture.bag
• 提取图片
  • sudo apt-get install ffmpeg
  • sudo apt-get install mjpegtools
  • sudo apt-get install ros-indigo-image-view

    • 如果找不到软件包，就源码安装
    • source /opt/ros/melodic/setup.bash
    • cd ~/catkin_ws/src && git clone https://github.com/ros-perception/image_pipeline
    • cd ~/catkin_ws && catkin_make --only-pkg-with-deps image_view
      • 缺少camera_calibration_parsers包
      • sudo apt-get install ros-melodic-camera-calibration-parsers
    • source ~/catkin_ws/devel/setup.bash
    • rospack find image_view

  • roscore
    • 如果不执行这条命令：[ERROR] [1446531999.044935824]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying...
  • 终端1：rosrun image_view extract_images _sec_per_frame:=0.01 image:=/color （PS：/color为bag文件中图片topic）
  • 终端2：rosbag play picture.bag