ROS：bag包内容提取——有时间戳的图片

通常在利用ros采集传感器数据时，我们会得到一个包含多个传感器数据的bag数据包，下面将会介绍从bag数据包提取有时间戳的图片。

系统版本：Ubuntu20.04

ROS版本：Noetic

先觉条件：

查看bag数据包中雷达点云数据和imu数据所对应的topic名称，通过下面这条指令实现。

rosbag info <xxxxxx.bag>
#<xxxxxx.bag>指bag数据包的名称

需创建工程进行相关操作，依次执行以下指令。

mkdir -p ~/extrapicture/src
cd ~/extrapicture/src
catkin_make
cd ~/extrapicture/src
catkin_create_pkg image std_msgs rospy roscpp

创建了一个名为image的功能包，包含一个cmakelists和package.xml。

工程如下：

image.h

/*
#include <ros/ros.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/Imu.h>
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/String.h>
*/
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
#include <string>
#include <fstream>

#include "/opt/ros/noetic/include/ros/ros.h"
#include "/opt/ros/noetic/include/message_filters/subscriber.h"
#include "/opt/ros/noetic/include/message_filters/synchronizer.h"
#include "/opt/ros/noetic/include/message_filters/sync_policies/approximate_time.h"
#include "/opt/ros/noetic/include/sensor_msgs/Image.h"
#include "/opt/ros/noetic/include/sensor_msgs/Imu.h"
#include "/opt/ros/noetic/include/geometry_msgs/PoseStamped.h"
#include "/opt/ros/noetic/include/std_msgs/String.h"


using namespace std;

// typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Imu, geometry_msgs::PoseStamped> MySyncPolicy;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Imu> MySyncPolicy;

class dataSynAcq{
public:
    //dataSynAcq( string image_dir, string imu_dir, string gt_dir );
    dataSynAcq( string path );
    ~dataSynAcq();
    
    ros::NodeHandle nh;
    
    void CallBack( const sensor_msgs::ImageConstPtr &image, const sensor_msgs::ImuConstPtr &imu );
    
private:
    message_filters::Subscriber<sensor_msgs::Image> *image_sub_;
    message_filters::Subscriber<sensor_msgs::Imu> *imu_sub_;
    // message_filters::Subscriber<geometry_msgs::PoseStamped> *gt_sub_;
    message_filters::Synchronizer<MySyncPolicy> *sync_;
    string seq_;
    string image_dir_;
    string imu_dir_;
    // string gt_dir_;  
    ofstream image_stamp;
    ofstream imu_file;
    //ofstream gt_file;
};

image.cpp:

#include "../include/image/image.h"
#include <fstream>
#include <boost/bind/bind.hpp>
//#include "/opt/ros/indigo/include/sensor_msgs/image_encodings.h"
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

using namespace std;
//using namespace sensor_msgs;
//using namespace message_filters;

//dataSynAcq::dataSynAcq(std::string image_dir, std::string imu_dir, std::string gt_dir)
dataSynAcq::dataSynAcq(std::string path )
{
    cout << "class dataSynAcq created a object: " << endl;
    image_sub_ = new message_filters::Subscriber<sensor_msgs::Image>(nh, "/kitti/camera_color_left/image_raw", 1000);
    imu_sub_ = new message_filters::Subscriber<sensor_msgs::Imu>(nh,"/kitti/oxts/imu", 1000);
    // gt_sub_ = new message_filters::Subscriber<geometry_msgs::PoseStamped>(nh, "/kitti/oxts/gps/vel", 1000);
    
    // sync_ = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(10), *image_sub_, *imu_sub_, *gt_sub_);
    sync_ = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(10), *image_sub_, *imu_sub_);
    
    image_dir_ = path + "image/";
    imu_dir_ = path ;
    // gt_dir_ = path ;
    
    //创建文件
    image_stamp.open( (imu_dir_ + "image_stamp.txt" ).c_str(), ios::app );
    imu_file.open( ( imu_dir_ + "imu.csv" ).c_str(), ios::out );
    //gt_file.open( ( gt_dir_ + "groundTruth.csv" ).c_str(), ios::out );
    //写文件title
    image_stamp << "timestamp" << "\n";
    // imu_file << "imu_timestamp" << "," << "imu.x" << "," << "imu.y" << "," << "imu.z" << "," << "imu.w" << "," << "gt_timestamp" << "," << "gt.x" << "," << "gt.y" << "," << "gt.z" << "," << "gt.w" << "\n";
    imu_file << "imu_timestamp" << "," << "imu.x" << "," << "imu.y" << "," << "imu.z" << "," << "imu.w" <<"\n";
    //seq_ = "ScSe1";
    // sync_->registerCallback(boost::bind(&dataSynAcq::CallBack, this, _1, _2, _3));
    sync_->registerCallback(boost::bind(&dataSynAcq::CallBack, this, _1, _2));
}

dataSynAcq::~dataSynAcq(){
    image_stamp.close();
    imu_file.close();
    //gt_file.close();
}

// void dataSynAcq::CallBack(const sensor_msgs::ImageConstPtr& image, const sensor_msgs::ImuConstPtr& imu, const geometry_msgs::PoseStampedConstPtr& gt)
void dataSynAcq::CallBack(const sensor_msgs::ImageConstPtr& image, const sensor_msgs::ImuConstPtr& imu)
{
    // cout << "callback:" << endl;
    cout << "image stamp is " << image->header.stamp<< " " ;
    cout << "imu stamp is " << imu->header.stamp << " ";
    // cout << "gt stamp is " << gt->header.stamp << " ";
    
    std::ostringstream oss;
    //oss << std::setfill('0') << std::setw(6) << seq_;
    cout<<"正在生成图片"<<endl;
    oss << image->header.stamp;
    //转换图像
    cv_bridge::CvImagePtr cv_ptr;
    cv_ptr = cv_bridge::toCvCopy( image, sensor_msgs::image_encodings::BGR8 );
    string image_name = (image_dir_ + oss.str() + ".png").c_str();
    cv::imwrite( image_name, cv_ptr->image );
    //写时间戳到文件image_stamp.txt中,路径和图片路径一样
    //ofstream image_stamp( (image_dir_ + "image_stamp.txt" ).c_str(), ios::app );
    if( !image_stamp )
    {
        image_stamp.open( (imu_dir_ + "image_stamp.txt").c_str(), ios::out );
    }
    image_stamp << image->header.stamp << "\n";
    //image_stamp.close();
    
    //转换imu
    //ofstream imu_file( ( imu_dir_ + "imu.csv" ).c_str(), ios::out );
    //xsens四元数信息
    //imu_file << imu->header.stamp << "," << imu->orientation.x << "," << imu->orientation.y << "," << imu->orientation.z << "," << imu->orientation.w << "," << gt->header.stamp << "," << gt->pose.orientation.x << "," << gt->pose.orientation.y << "," << gt->pose.orientation.z << "," << gt->pose.orientation.w << "\n";
    imu_file << imu->header.stamp << "," << imu->orientation.x << "," << imu->orientation.y << "," << imu->orientation.z << "," << imu->orientation.w << "," << "\n";
    //imu_file.close();
    
    /*//真值
    //ofstream gt_file( ( gt_dir_ + "groundTruth.csv" ).c_str(), ios::out );
    gt_file << gt->header.stamp << "," << gt->pose.orientation.x << "," << gt->pose.orientation.y << "," << gt->pose.orientation.z << "," << gt->pose.orientation.w << "\n";
    //gt_file.close();
    */

}

main.cpp

#include "../include/image/image.h"
#include "/opt/ros/noetic/include/ros/ros.h"
#include <string.h>
#include <stdio.h>

using namespace std;

string directory = "/home/weiwang/1/";


int main( int argc, char** argv )
{
    ros::init( argc, argv, "dataSynAcq_node" );
    //argv[3]大路径--"/home/ly/experiment_data_VC/7.11/", argv[4]每个序列的小路径--"ScSe1"
    //string path = directory + string(argv[3]);
    
    dataSynAcq dataSyn( directory );
    ros::spin();
    return 0;
    
}

cmkaelists:

cmake_minimum_required(VERSION 3.0.2)
project(image)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  geometry_msgs
  message_filters 
  cv_bridge 
  sensor_msgs 
  image_transport
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES image
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/image.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/image_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_image.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

add_library( image include/image/image.h src/image.cpp )
add_dependencies(image ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(image ${catkin_LIBRARIES} )
  
add_executable( image_node src/main.cpp )
target_link_libraries( image_node ${catkin_LIBRARIES} image )

编译成功之后，依次执行以下命令

roscore

rosrun image image_node

rosbag play xxxx.bag//xxxx 为回放的bag包名称

运行程序得到的结果如下：