I would like to take the binary point cloud data from the KITTI dataset and use a suitable node in ROS to generate .png images from point cloud data from a bird's eye view (bev). For this I choose the way:
.bin file -> rosbag file -> .png image
or alternatively
.bin file -> sensor_msgs/PointCloud2 -> .png image
The most important question for me would be whether the messages are always sent synchronously to the node that handles the conversion when a rosbag file is played back. So the ground truth and the respective image must always match. I am afraid that this is not always guaranteed.
Many thanks for your help