#!/usr/bin/python
# -*- 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
import math
class ImageCreator():
def __init__(self):
self.bridge = CvBridge()
with rosbag.Bag('/home/dell/rosbag_20191028/all/2019-10-28-14-20-33_0.bag', 'r') as bag: #要读取的bag文件;
for topic,msg,t in bag.read_messages():
if topic == "/usb_cam/image_raw": #图像的topic;
try:
cv_image = self.bridge.imgmsg_to_cv2(msg,"bgr8")
except CvBridgeError as e:
print e
timestr = str(int(msg.header.stamp.to_sec()* math.pow(10,9)))# 去掉小数点
image_name = timestr+ ".jpg" #图像命名:时间戳.jpg
cv2.imwrite(image_name, cv_image) #保存;
if __name__ == '__main__':
try:
image_creator = ImageCreator()
except rospy.ROSInterruptException:
pass