Created
July 19, 2018 21:26
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Converts rosbags from duckietown to s/a pair pickle files
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import rospy, rosbag | |
import numpy as np | |
import cv2 | |
import pickle | |
import argparse | |
def image_to_numpy(msg): | |
""" | |
Convert a sensor_msgs/CompressedImage to numpy array | |
""" | |
img_np_arr = np.fromstring(msg.data, np.uint8) | |
img = cv2.imdecode(img_np_arr, cv2.IMREAD_COLOR) | |
img = np.roll(img, 2, axis=-1) # To get the colors correct | |
return img | |
def main(args): | |
""" | |
Bag to state-action pairs, stored in a pickle file | |
""" | |
bag = rosbag.Bag(args.bagfile) | |
# Initialize your current action to be 0s | |
cur_action = (0., 0.) | |
actions = [] | |
images = [] | |
for topic, msg, t in bag.read_messages(topics=[args.img_topic, args.action_topic]): | |
if topic == args.action_topic: | |
# Change this line if your action msg is not of type duckietown_msgs/WheelsCmdStamped | |
cur_action = (msg.vel_left, msg.vel_right) | |
if topic == args.img_topic: | |
actions.append(cur_action) | |
img = image_to_numpy(msg) | |
images.append(img) | |
actions = np.array(actions) | |
images = np.array(images) | |
with open(args.outfile, "wb") as f: | |
pickle.dump((images, actions), f) | |
def load(args): | |
""" | |
Test to make sure you have the right amount of sa pairs | |
""" | |
with open(args.outfile, "rb") as f: | |
img, act = pickle.load(f) | |
# Set show_proof to True if you'd like to see the image | |
if args.show_proof: | |
from PIL import Image | |
im = Image.fromarray(img[-1]) | |
im.save('test.png') | |
print('Last 100 Actions', act[-100:]) | |
print(img.shape, act.shape) | |
if __name__ == '__main__': | |
parser = argparse.ArgumentParser(description='Rosbag->Numpy Synchronizer') | |
parser.add_argument('--bagfile', type=str, help='bagfile name') | |
parser.add_argument('--outfile', type=str, help='outfile name') | |
parser.add_argument('--img-topic', type=str, help='image topic') | |
parser.add_argument('--action-topic', type=str, help='action topic') | |
parser.add_argument('--show-proof', help='Show proof that it worked', action='store_true') | |
args = parser.parse_args() | |
main(args) | |
load(args) | |
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