Hi,
I recently recorded some images with a RGB camera (operating with at 20 Hz) and a Lider (10 Hz). Now I would like to align those two images. However, they are not synchronized due to the different frequencies. Apparently, one could try to synchronize them my manipulating the timestamps like described here: http://wiki.ros.org/message_filters#Time_Synchronizer. However, I don't quite understand what does the synchronizer actually do.
Could someone please tell me whether it's the correct the direction and how I should proceed?
The info of my bag reads as the following:
xxx@ubuntu:~$ rosbag info /home/xxx/Desktop/2019-06-18-11-38-00.bag
path: /home/xxx/Desktop/2019-06-18-11-38-00.bag
version: 2.0
duration: 40.6s
start: Jun 18 2019 11:38:00.89 (1560850680.89)
end: Jun 18 2019 11:38:41.49 (1560850721.49)
size: 3.2 GB
messages: 46042
compression: none [2072/2072 chunks]
types: ouster_ros/PacketMsg [4f7b5949e76f86d01e96b0e33ba9b5e3]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
topics: /VIS/cam0/image_raw 812 msgs : sensor_msgs/Image
/VIS/cam1/image_raw 812 msgs : sensor_msgs/Image
/VIS/cam2/image_raw 813 msgs : sensor_msgs/Image
/VIS/imu 7904 msgs : sensor_msgs/Imu
/img_node/intensity_image 406 msgs : sensor_msgs/Image
/img_node/noise_image 405 msgs : sensor_msgs/Image
/img_node/range_image 406 msgs : sensor_msgs/Image
/os1_cloud_node/imu 4057 msgs : sensor_msgs/Imu
/os1_cloud_node/points 405 msgs : sensor_msgs/PointCloud2
/os1_node/imu_packets 4055 msgs : ouster_ros/PacketMsg
/os1_node/lidar_packets 25967 msgs : ouster_ros/PacketMsg
Thanks in advance!
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