C++实现将图像数据转为ROSBAG

前提:已知一组图片和记录该图像路径的txt文件.
通过rosbag::Bag将指定的一组图像转换成bag的形式
参考链接:https://blog.csdn.net/HelloJinYe/article/details/107350584

最后usleep(100*1000);控制bag的帧率，100x1000表示每帧图像之间的间隔为100ms，帧率为10hz

1 imgtobag_new.cpp文件

#include <string>
#include <ros/console.h>
#include <rosbag/bag.h>
#include <cv_bridge/cv_bridge.h>
#include <iostream>
#include <vector>

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <unistd.h>

using namespace std;
using namespace cv;

int main(int argc, char **argv)
{
    //读取图片和点云信息
    vector<string> img_names;
    ifstream fin;
    string imageDir = "/home/lusx/data/semantic/test/src/data_new.txt";
    fin.open(imageDir.c_str());
    if(!fin.is_open())
    {
        cerr<<"imageDir "<<imageDir<<"is wrong."<<endl;
        exit(1);
    }
    while(!fin.eof())
    {
        string path;
        getline(fin, path);
        if(!path.empty())
            img_names.push_back(path);
    }

    ros::Time::init();
    rosbag::Bag bag;
    string output_bag="./res.bag";
    bag.open(output_bag, rosbag::bagmode::Write);
    int seq = 0;
    for(size_t i=0;i<img_names.size();i++)
    {
        string strImgFile = img_names[i];

        // --- for image ---//
        cv::Mat img = cv::imread(strImgFile);
        if (img.empty())
            cout<<"图片为空: "<<strImgFile<<endl;
        cv_bridge::CvImage ros_image;
        sensor_msgs::ImagePtr ros_image_msg;

        ros_image.image = img;
        ros_image.encoding = "bgr8";

        ros::Time timestamp_ros = ros::Time::now();
        ros_image_msg = ros_image.toImageMsg();
        ros_image_msg->header.seq = seq;
        ros_image_msg->header.stamp = timestamp_ros;
        ros_image_msg->header.frame_id = "/image_raw";

        bag.write("/cam", timestamp_ros, ros_image_msg);

        cout<<"process image["<<i<<"] done."<<endl;
        usleep(100*1000);
    }

    return 0;
}

2 CMakeLists.txt文件

cmake_minimum_required(VERSION 3.2)
project(imagetobag)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  rosbag
  std_msgs
  sensor_msgs
  cv_bridge
)
find_package(OpenCV 3 REQUIRED)
catkin_package(
  INCLUDE_DIRS 
  CATKIN_DEPENDS
  rosbag
  rospy
  std_msgs
  sensor_msgs
  cv_bridge
  message_runtime
)

include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIR})

add_executable(imgtobag_new imgtobag_new.cpp)
target_link_libraries(imgtobag_new ${catkin_LIBRARIES} ${OpenCV_LIBS})

3 package.xml文件

<?xml version="1.0"?>
<package>
  <name>imagetobag</name>
  <version>1.0.0</version>
  <description>ROS sample</description>

  <maintainer email="lusx@dhsjdhsu.edu">Lusx</maintainer>

  <license>TODO</license>

  <author>Lusx</author>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>
  <run_depend>roscpp</run_depend>
  <build_depend>rospy</build_depend>
  <run_depend>rospy</run_depend>

  <build_depend>rosbag</build_depend>
  <run_depend>rosbag</run_depend>

  <build_depend>cv_bridge</build_depend>
  <run_depend>cv_bridge</run_depend>

  <build_depend>std_msgs</build_depend>
  <run_depend>std_msgs</run_depend>
  <build_depend>sensor_msgs</build_depend>
  <run_depend>sensor_msgs</run_depend>

  <build_depend>message_generation</build_depend>
  <run_depend>message_generation</run_depend>
  <build_depend>message_runtime</build_depend>
  <run_depend>message_runtime</run_depend>

</package>