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Convert rosbag to images with python 3
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| #!/usr/bin/env python | |
| # -*- coding: utf-8 -*- | |
| # Copyright 2016 Massachusetts Institute of Technology | |
| # Copyright 2024 Massachusetts Institute of Technology | |
| """Extract images from a rosbag. | |
| """ | |
| import os | |
| import argparse | |
| import cv2 | |
| import rosbag | |
| from sensor_msgs.msg import Image | |
| from cv_bridge import CvBridge | |
| def main(): | |
| """Extract a folder of images from a rosbag. | |
| """ | |
| parser = argparse.ArgumentParser(description="Extract images from a ROS bag.") | |
| parser.add_argument("bag_file", help="Input ROS bag.") | |
| parser.add_argument("output_dir", help="Output directory.") | |
| parser.add_argument("image_topic", help="Image topic.") | |
| args = parser.parse_args() | |
| print("Extract images from %s on topic %s into %s" % (args.bag_file, | |
| args.image_topic, args.output_dir)) | |
| bag = rosbag.Bag(args.bag_file, "r") | |
| bridge = CvBridge() | |
| count = 0 | |
| for topic, msg, t in bag.read_messages(topics=[args.image_topic]): | |
| cv_img = bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough") | |
| cv2.imwrite(os.path.join(args.output_dir, "frame%06i.png" % count), cv_img) | |
| print("Wrote image %i" % count) | |
| count += 1 | |
| bag.close() | |
| return | |
| if __name__ == '__main__': | |
| main() |
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