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September 9, 2021 08:54
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Extract a folder of images from a rosbag (Python 3)
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#!/usr/bin/env python3 | |
# -*- coding: utf-8 -*- | |
# Script adapted from https://gist.github.com/wngreene/835cda68ddd9c5416defce876a4d7dd9 | |
# for use in Python 3. | |
"""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") | |
cv_img_bgr = cv2.cvtColor(cv_img, cv2.COLOR_RGB2BGR) | |
cv2.imwrite(os.path.join(args.output_dir, "frame%06i.png" % count), cv_img_bgr) | |
print("Wrote image %i" % count) | |
count += 1 | |
bag.close() | |
return | |
if __name__ == '__main__': | |
main() |
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