ros C++解析bag包

ros中的bag包是按逐帧序列存储的，解析的时候创建View类可以逐帧把数据读取出来，然后按照对应topic数据做相应的处理，一下demo是一个小案例，如何解析一个bag包。

#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <std_msgs/Int32.h>
#include <std_msgs/String.h>

#include <ros/ros.h>
// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
 
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/cloud_viewer.h>
#include <sensor_msgs/CompressedImage.h>
#include <boost/foreach.hpp>
#define foreach BOOST_FOREACH
#include <thread>

ros::Publisher pub;
pcl::visualization::CloudViewer viewer("Cloud Viewer");
 
int main(int argc, char** argv)
{
      // Initialize ROS
    ros::init (argc, argv, "my_pcl_tutorial");
    ros::NodeHandle nh;

    rosbag::Bag bag;
    bag.open("../2020-03-26-17-53-18/2020-03-26-17-53-18.bag", rosbag::bagmode::Read); //打开一个bag文件
    
    std::vector<std::string> topics; //设置需要遍历的topic
    topics.push_back(std::string("/left/rslidar_packets"));         
    topics.push_back(std::string("/right/rslidar_packets"));        
    topics.push_back(std::string("/usb_cam/image_raw0/compressed"));
    topics.push_back(std::string("/usb_cam/image_raw1/compressed"));
    topics.push_back(std::string("/usb_cam/image_raw2/compressed"));
    topics.push_back(std::string("/usb_cam/image_raw3/compressed"));
    topics.push_back(std::string("/miliwave_base"));                
    topics.push_back(std::string("/back_miliwave_base"));           
    //topics.push_back(std::string("/radar_cloud "));
    rosbag::View view(bag, rosbag::TopicQuery(topics));; // 读指定的topic，如果全读，第二个参数不写，如下
    //rosbag::View view_all(view); //读取全部topic
    
    
    // foreach(rosbag::MessageInstance const m, view) //用foreach遍历所有帧数据，每个messageInstance就是一帧数据
    // {
    int num;
    while(true){
    rosbag::View::iterator it = view.begin(); //使用迭代器的方式遍历
    std::cout<<"please input num:";
    std::cin>>num;
    std::cout<<"num:"<<num<<std::endl;
    // for(int i = 0; i < num; ++i)
    //     ++it;
    std::advance(it,num);
    for(; it !=  view.end(); ++it)
    {  
        auto m = *it;
        std::string topic   = m.getTopic();
        std::cout<<"topic:"<<topic<<std::endl;
        std::string callerid       = m.getCallerId();
        std::cout<<"callerid:"<<callerid<<std::endl;
        ros::Time  time = m.getTime();
        std::cout<<"time:"<<time.sec<<":"<<time.nsec<<std::endl;
        //ros::Time translated = time_translator_.translate(time);
        

        sensor_msgs::PointCloud2::ConstPtr input = m.instantiate<sensor_msgs::PointCloud2>();
        //sensor_msgs::PointCloud2ConstPtr input = *s ;
        if (input != NULL)
        {
            // 创建一个输出的数据格式
            sensor_msgs::PointCloud2 input;  //ROS中点云的数据格式
            //对数据进行处理
            pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
 
            pcl::fromROSMsg(input,*cloud);
     
            //blocks until the cloud is actually rendered
            viewer.showCloud(cloud);
    
            //pub.publish (input);
        }
        if(topic == "/usb_cam/image_raw0/compressed"){
            sensor_msgs::CompressedImage::ConstPtr frontCamMsg = m.instantiate<sensor_msgs::CompressedImage>();
            //char* img = new char[frontCamMsg->data.size()];
            char img[frontCamMsg->data.size()];
            memcpy(img, &frontCamMsg->data[0], frontCamMsg->data.size());
            for(int i = 0; i<frontCamMsg->data.size(); ++i)
                std::cout<< (int)img[i] <<" ";
            std::cout<<std::endl;
        }
        //std::this_thread::sleep_for(std::chrono::milliseconds(1000));
        
    }
    }
    getchar();
    bag.close();
}