解析rosbag转带时间戳命名的图像和imu数据txt文件

1.首先查看rosbag中的详细信息

rosbag info *.bag   //*为你自己的数据包的名称

如下图所示

从中可以看出，存在两个topic,/cam0/image_raw为图像topic，/imu0为imu topic,我们需要将这两个信息转成图像序列和.txt格式

2.解析bag文件得到带时间戳的.png图片

#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

path='/home/xlgm/' #存放图片的位置
class ImageCreator():


    def __init__(self):
        self.bridge = CvBridge()
        with rosbag.Bag('kalibr.bag', 'r') as bag:   #要读取的bag文件；
            for topic,msg,t in bag.read_messages():
                if topic == "/cam0/image_raw":  #图像的topic；
                        try:
                            cv_image = self.bridge.imgmsg_to_cv2(msg,"bgr8")
                        except CvBridgeError as e:
                            print e
			timeq = msg.header.stamp.to_sec() 
                        timestr = "{:.6f}".format(timeq)
                        #%.6f表示小数点后带有6位，可根据精确度需要修改；"%.6f" %  msg.header.stamp.to_sec() * pow(10, 9)
                        image_name = timestr+ ".png" #图像命名：时间戳.png
                        cv2.imwrite(path+image_name, cv_image)  #保存；
            imu = open("imu0.txt",'w')
            for topic,msg,t in bag.read_messages():
                if topic == "/imu0":  #imu topic；
                        acc_y = "%.6f" % msg.linear_acceleration.y
		        acc_x = "%.6f" % msg.linear_acceleration.x
		        acc_z = "%.6f" % msg.linear_acceleration.z
			w_y = "%.6f" % msg.angular_velocity.y
		        w_x = "%.6f" % msg.angular_velocity.x
		        w_z = "%.6f" % msg.angular_velocity.z
                        timeimu = "%.6f" %  msg.header.stamp.to_sec()
                        imudata = timeimu + " " + w_x + " " + w_y + " " + w_z + " " + acc_x + " " + acc_y + " " + acc_z
                        imu.write(imudata)
                        imu.write('\n')
            imu.close()


if __name__ == '__main__':

    #rospy.init_node(PKG)

    try:
        image_creator = ImageCreator()
    except rospy.ROSInterruptException:
        pass

通过解析，在cam0下得到相对应的图像序列，如下图

保存带.txt格式的imu数据