Rosbag 转 txt

最新推荐文章于 2023-07-09 18:38:30 发布

Jee_King

最新推荐文章于 2023-07-09 18:38:30 发布

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本文链接：https://blog.csdn.net/Jee_King/article/details/107139172

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#!/usr/bin/env python
import rosbag
import os
from tqdm import tqdm
fileList = os.listdir('./')
bag_list = [n for n in fileList if 'bag' in n ]
for bag_name in bag_list:
    bag=rosbag.Bag(bag_name)
    with open(bag_name[:-3]+'txt','w') as f: 
        for i,(topic,msgs,t) in enumerate(bag.read_messages(topics=['/cam0/events'])):
            for single_event in tqdm(msgs.events):  
                timestamp=single_event.ts.secs+single_event.ts.nsecs*1.0/1000000000
                timestamp='%.9f'%(timestamp)
                f.write(timestamp+' ')
                f.write(str(single_event.x)+' ')
                f.write(str(single_event.y)+' ')
                if(single_event.polarity==True):        
                    f.write("1")
                else:
                    f.write("0")
                f.write('\n')  
            print("Writing events between two pic, now is "+ str(i)+'!')
    print("Writing is over!")
    bag.close()