[ROS]将视频转换成ROSBAG

最近需要将.avi格式的视频转换成rosbag，方便跑包。

参考链接：参考链接1，参考链接2，参考链接3

---

#include <iostream>
#include <ros/ros.h>
#include <rosbag/bag.h>
#include <opencv2/highgui/highgui.hpp>
#include"cv_bridge/cv_bridge.h"

using namespace std;
using namespace cv;
int main(int argc,char **argv) 
{
    ros::init(argc, argv, "rosbag_recode_node");
    ros::NodeHandle nh;
 
    rosbag::Bag bag;
    bag.open("/home/xxx/视频/raw.bag", rosbag::bagmode::Write);
 
    cv::VideoCapture cap("/home/xxx/视频/abc.avi");
 
    long totalFrameNum = cap.get(CV_CAP_PROP_FRAME_COUNT);
    long FrameCount = 0;
    cout << "total frame" << totalFrameNum << endl;
    while (ros::ok())
    {
        cv::Mat frame;
        cap >> frame;
        if (frame.empty()) {
            std::cout << "error, no image" << std::endl;
            return -1;
        }
 
        cv::imshow("image", frame);
        cv::waitKey(25);//此处的waitKey很重要，影响了录制长度
 
        std_msgs::Header header;
        header.frame_id = "image_frame"; 
        header.stamp = ros::Time::now();
 
        sensor_msgs::ImagePtr image_msg = cv_bridge::CvImage(header, "bgr8", frame).toImageMsg();
        // sensor_msgs::CompressedImagePtr compressed_image_msg = cv_bridge::CvImage(header, "bgr8", frame).toCompressedImageMsg();

        if(FrameCount % 2 == 0)
            bag.write("/camera/image_raw", ros::Time::now(), image_msg);
        // bag.write("image_raw/compressed", ros::Time::now(), compressed_image_msg);
 
        //ros::Time time;
        //time.fromNSec(timestamp); // 从图像数据集生成bag时，timestamp一般为图像名
        //bag.write("image_topic", time, msg);
        ++FrameCount;
    }
    bag.close();
    cap.release();
    return 0;
}

CMakeLists:

cmake_minimum_required(VERSION 3.2)
project(videobag)

set(CMAKE_CXX_STANDARD 11)
set( EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin )
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

find_package(catkin REQUIRED COMPONENTS
        roscpp
        rosbag
        cv_bridge
        )

include_directories(
        ${catkin_INCLUDE_DIRS}
)


add_executable(videobag src/main.cpp)

target_link_libraries(videobag
        ${catkin_LIBRARIES}
        ${OpenCV_LIBS})

---

已解决的问题：

1.当cv::waitKey(10)时，录制的rosbag会存在卡顿现象，并且整体速率也不太对。调整这里的时长就行。

2.降低录制帧率，具体见代码。