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# BSD 2-Clause License | |
# | |
# Copyright (c) 2014-2019, Nikolaus Demmel | |
# All rights reserved. | |
# | |
# Redistribution and use in source and binary forms, with or without | |
# modification, are permitted provided that the following conditions are met: | |
# | |
# 1. Redistributions of source code must retain the above copyright notice, this | |
# list of conditions and the following disclaimer. | |
# | |
# 2. Redistributions in binary form must reproduce the above copyright notice, | |
# this list of conditions and the following disclaimer in the documentation | |
# and/or other materials provided with the distribution. | |
# | |
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | |
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | |
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | |
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | |
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | |
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | |
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | |
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | |
INBAG=$1 | |
OUTBAG=$2 | |
STARTTIME=$3 | |
DURATION=$4 | |
ENDTIME="($STARTTIME + $DURATION)" | |
rosbag filter $INBAG $OUTBAG \ | |
"(( | |
( (topic == '/camera/image_mono') or (topic == 'camera/image_mono') or | |
(topic == '/camera/camera_info') or (topic == 'camera/camera_info') or | |
(topic == '/bosch_imu/imu0/data_raw') or (topic == 'bosch_imu/imu0/data_raw') or | |
(topic == '/ps') or (topic == 'ps') or | |
(topic == '/xsens_imu/imu/data') or (topic == 'xsens_imu/imu/data') or | |
(topic == '/imu/data') or (topic == 'imu/data') or | |
(topic == '/vps_pose_covariance') or (topic == 'vps_pose_covariance') or | |
(topic == '/vps_pose_covariance_camera') or (topic == 'vps_pose_covariance_camera') or | |
(topic == '/vps_pose_covariance_imu') or (topic == 'vps_pose_covariance_imu') ) | |
and | |
(m.header.stamp.to_sec() >= $STARTTIME and m.header.stamp.to_sec() < $ENDTIME) | |
) or | |
( | |
( (topic == '/richimage') or (topic == 'richimage') ) | |
and | |
(m.image.header.stamp.to_sec() >= $STARTTIME and m.image.header.stamp.to_sec() < $ENDTIME) | |
) or | |
( | |
( (topic == '/camera_measurement_info') or (topic == 'camera_measurement_info') ) | |
and | |
(m.measurement.richimage.image.header.stamp.to_sec() >= $STARTTIME and m.measurement.richimage.image.header.stamp.to_sec() < $ENDTIME) | |
) or | |
( | |
( (topic == '/tf') or (topic == '') ) | |
and | |
(m.transforms[0].header.stamp.to_sec() >= $STARTTIME and m.transforms[0].header.stamp.to_sec() < $ENDTIME) | |
))" |
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#!/usr/bin/env python | |
# BSD 2-Clause License | |
# | |
# Copyright (c) 2014-2019, Nikolaus Demmel | |
# All rights reserved. | |
# | |
# Redistribution and use in source and binary forms, with or without | |
# modification, are permitted provided that the following conditions are met: | |
# | |
# 1. Redistributions of source code must retain the above copyright notice, this | |
# list of conditions and the following disclaimer. | |
# | |
# 2. Redistributions in binary form must reproduce the above copyright notice, | |
# this list of conditions and the following disclaimer in the documentation | |
# and/or other materials provided with the distribution. | |
# | |
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | |
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | |
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | |
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | |
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | |
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | |
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | |
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | |
import sys | |
import argparse | |
from fnmatch import fnmatchcase | |
from rosbag import Bag | |
def main(): | |
parser = argparse.ArgumentParser(description='Merge one or more bag files | |
with the possibilities of filtering topics.') | |
parser.add_argument('outputbag', | |
help='output bag file with topics merged') | |
parser.add_argument('inputbag', nargs='+', | |
help='input bag files') | |
parser.add_argument('-v', '--verbose', action="store_true", default=False, | |
help='verbose output') | |
parser.add_argument('-t', '--topics', default="*", | |
help='string interpreted as a list of topics (wildcards \'*\' and \'?\' allowed) to include in the merged bag file') | |
args = parser.parse_args() | |
topics = args.topics.split(' ') | |
total_included_count = 0 | |
total_skipped_count = 0 | |
if (args.verbose): | |
print("Writing bag file: " + args.outputbag) | |
print("Matching topics against patters: '%s'" % ' '.join(topics)) | |
with Bag(args.outputbag, 'w') as o: | |
for ifile in args.inputbag: | |
matchedtopics = [] | |
included_count = 0 | |
skipped_count = 0 | |
if (args.verbose): | |
print("> Reading bag file: " + ifile) | |
with Bag(ifile, 'r') as ib: | |
for topic, msg, t in ib: | |
if any(fnmatchcase(topic, pattern) for pattern in topics): | |
if not topic in matchedtopics: | |
matchedtopics.append(topic) | |
if (args.verbose): | |
print("Including matched topic '%s'" % topic) | |
o.write(topic, msg, t) | |
included_count += 1 | |
else: | |
skipped_count += 1 | |
total_included_count += included_count | |
total_skipped_count += skipped_count | |
if (args.verbose): | |
print("< Included %d messages and skipped %d" % (included_count, skipped_count)) | |
if (args.verbose): | |
print("Total: Included %d messages and skipped %d" % (total_included_count, total_skipped_count)) | |
if __name__ == "__main__": | |
main() |
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Sure, I added a BSD 2-clause license, since its even simpler. I hope that works for you.