将rosbag保存为图片

本文提供的代码完成的功能是：将rosbag中指定的话题上的图片数据：包括深度数据和rgb数据保存到指定目录下，并生成rgb和深度数据对应的时间戳文本，以及associations.txt文件，整个数据的格式和TUM数据集的格式类似。

首先是将rosbag文件中的文件提取出来的python程序，需要提前在指定目录创建rgb和depth目录，以及修改下面的python文件里面的目录，需要修改的包括：rgb和depth图片的保存地址，时间戳文件地址，rosbag地址，以及需要读取的话题名称，最终会在目录下生成depth-stamp.txt和rgb-stamp.txt文件。

import roslib
import rosbag
import rospy
import cv2
import os
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from cv_bridge import CvBridgeError

rgb = '/home/path/to/dataset/rgb/'  #rgb path
depth = '/home/path/to/dataset/depth/'   #depth path
bridge = CvBridge()

file_handle1 = open('/home/path/to/dataset/depth-stamp.txt', 'w')
file_handle2 = open('/home/path/to/dataset/rgb-stamp.txt', 'w')

with rosbag.Bag('/home/path/to/your/rosbag.bag', 'r') as bag:
    for topic,msg,t in bag.read_messages():
        if topic == "/camera/aligned_depth_to_color/image_raw":  #depth topic
            cv_image = bridge.imgmsg_to_cv2(msg)
            timestr = "%.6f" %  msg.header.stamp.to_sec()   #depth time stamp
            image_name = timestr+ ".png"
            path = "depth/" + image_name
            file_handle1.write(timestr + " " + path + '\n')
            cv2.imwrite(depth + image_name, cv_image)
        if topic == "/camera/color/image_raw":   #rgb topic
            cv_image = bridge.imgmsg_to_cv2(msg,"bgr8")
            timestr = "%.6f" %  msg.header.stamp.to_sec()   #rgb time stamp
            image_name = timestr+ ".png"
            path = "rgb/" + image_name
            file_handle2.write(timestr + " " + path + '\n')
            cv2.imwrite(rgb + image_name, cv_image)
file_handle1.close()
file_handle2.close()

然后使用associate.py生成associations.txt：

import argparse
import sys
import os
import numpy


def read_file_list(filename):
    """
    Reads a trajectory from a text file.

    File format:
    The file format is "stamp d1 d2 d3 ...", where stamp denotes the time stamp (to be matched)
    and "d1 d2 d3.." is arbitary data (e.g., a 3D position and 3D orientation) associated to this timestamp.

    Input:
    filename -- File name

    Output:
    dict -- dictionary of (stamp,data) tuples

    """
    file = open(filename)
    data = file.read()
    lines = data.replace(",", " ").replace("\t", " ").split("\n")
    list = [[v.strip() for v in line.split(" ") if v.strip() != ""] for line in lines if
            len(line) > 0 and line[0] != "#"]
    list = [(float(l[0]), l[1:]) for l in list if len(l) > 1]
    return dict(list)


def associate(first_list, second_list, offset, max_difference):
    """
    Associate two dictionaries of (stamp,data). As the time stamps never match exactly, we aim
    to find the closest match for every input tuple.

    Input:
    first_list -- first dictionary of (stamp,data) tuples
    second_list -- second dictionary of (stamp,data) tuples
    offset -- time offset between both dictionaries (e.g., to model the delay between the sensors)
    max_difference -- search radius for candidate generation

    Output:
    matches -- list of matched tuples ((stamp1,data1),(stamp2,data2))

    """
    first_keys = first_list.keys()
    second_keys = second_list.keys()
    potential_matches = [(abs(a - (b + offset)), a, b)
                         for a in first_keys
                         for b in second_keys
                         if abs(a - (b + offset)) < max_difference]
    potential_matches.sort()
    matches = []
    for diff, a, b in potential_matches:
        if a in first_keys and b in second_keys:
            first_keys.remove(a)
            second_keys.remove(b)
            matches.append((a, b))

    matches.sort()
    return matches


if __name__ == '__main__':

    # parse command line
    parser = argparse.ArgumentParser(description='''
    This script takes two data files with timestamps and associates them   
    ''')
    parser.add_argument('first_file', help='first text file (format: timestamp data)')
    parser.add_argument('second_file', help='second text file (format: timestamp data)')
    parser.add_argument('--first_only', help='only output associated lines from first file', action='store_true')
    parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',
                        default=0.0)
    parser.add_argument('--max_difference',
                        help='maximally allowed time difference for matching entries (default: 0.02)', default=0.02)
    args = parser.parse_args()

    first_list = read_file_list(args.first_file)
    second_list = read_file_list(args.second_file)

    matches = associate(first_list, second_list, float(args.offset), float(args.max_difference))

    if args.first_only:
        for a, b in matches:
            print("%f %s" % (a, " ".join(first_list[a])))
    else:
        for a, b in matches:
            print("%f %s %f %s" % (a, " ".join(first_list[a]), b - float(args.offset), " ".join(second_list[b])))

最终则得到了以时间戳作为名称的rgb和depth图片。