catkin_make编译转换文件
roscore
rosrun save_rgbd_from_kinect2 save_rgbd_from_kinect2
python associate.py rgb.txt depth.txt > association.txt
rosbag play room1.bag
更改save_rgbd_from_kinect2.cpp
os_rgb << time_val.tv_sec << "." <<time_val.tv_usec;
os_dep << time_val.tv_sec << "."<<time_val.tv_usec;
替换为
os_rgb << time_val.tv_sec << "." <<setiosflags(ios::fixed)<<setprecision(6)<<std::setfill('0')<<setw(6)<<time_val.tv_usec;
os_dep << time_val.tv_sec << "."<<setiosflags(ios::fixed)<<setprecision(6)<<std::setfill('0')<<setw(6) <<time_val.tv_usec;