python —— bag中提取图片到特定位置

程序如下：

#coding:utf-8
 
import roslib;
import rosbag
import rospy
import cv2
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from cv_bridge import CvBridgeError
 

time_num=0
path='/media/jht/Elements/数据/北航-地大联合测试-2022-10-23/相机数据/中度遮挡环境/数据1/图片/' #存放图片的位置
class ImageCreator():
    def __init__(self):
        self.bridge = CvBridge()
        global time_num 
        with rosbag.Bag('xyu_zo1_13_0_2022-10-23-13-46-29.bag', 'r') as bag:   #要读取的bag文件；
          
            for topic,msg,t in bag.read_messages():
                if topic == "/image_raw":  #图像的topic；
                        try:
                            cv_image = self.bridge.imgmsg_to_cv2(msg,"bgr8")
                        except CvBridgeError as e:
                            print e

                        time_num+=1
                        timestr=str(time_num)
                        #timestr = "%.6f" % msg.header.stamp.to_sec()
                        #%.6f表示小数点后带有6位，可根据精确度需要修改；
                        image_name = timestr + ".jpg"            #图像命名：时间戳.jpg
                        cv2.imwrite(path+image_name, cv_image)   #保存

 
if __name__ == '__main__':
 
    #rospy.init_node(PKG)
 
    try:
        image_creator = ImageCreator()
    except rospy.ROSInterruptException:
        pass