读取gmsl接口数据，rosbag录制话题

首先根据下面这个文件，修改相应的参数，与自己的摄像头地址，制作topic并发布，使用python编译器运行这个文件

python3 xxx.py

#!/usr/bin/env python
import sys
import cv2
import rospy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
import os
import numpy as np

def read_cam():
    cap = cv2.VideoCapture("v4l2src device=/dev/video0 ! video/x-raw, width=640, height=512 ! videoconvert ! video/x-raw,format=BGR ! appsink")
    if cap.isOpened():
        while True:
            ret_val, img = cap.read()
	    
            # print(ret_val, img)
    else:
        print("camera open failed")

def videocapture():
    cap=cv2.VideoCapture("v4l2src device=/dev/video0 ! video/x-raw, width=640, height=512 ! videoconvert ! video/x-raw,format=BGR ! appsink")     #生成读取摄像头对象
    width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))  #获取视频的宽度
    height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))  #获取视频的高度
    fps = cap.get(cv2.CAP_PROP_FPS) #获取视频的帧率

    fourcc = int(cap.get(cv2.CAP_PROP_FOURCC))    #视频的编码
    print(fourcc)
    #定义视频对象输出
    writer = cv2.VideoWriter("video_result.mp4", fourcc, fps, (width, height))
    while cap.isOpened():
        ret, frame = cap.read() #读取摄像头画面
        cv2.imshow('teswell', frame) #显示画面
        key = cv2.waitKey(24)
        writer.write(frame)  #视频保存
        # 按Q退出
        if key == ord('q'):
            break
    cap.release()         #释放摄像头
    cv2.destroyAllWindows() #释放所有显示图像窗口

class ImagePublisher(object):
    def __init__(self):
        # self.image = None
        self.br = CvBridge()
        # Node cycle rate (in Hz)
        self.loop_rate = rospy.Rate(20)

        # Publishers
        image_topic = rospy.get_param("~topic_name","image_IR")# the topic name is defined in the private namespace
        self.pub = rospy.Publisher(image_topic,Image,queue_size=1) # always publish the latest

        # video device to capture

        self.device_type = rospy.get_param("~device_type","GMSL")
        self.device = rospy.get_param("~device",'/dev/video0') # get the device
        self.width = rospy.get_param("~width",'640')
        self.height = rospy.get_param("~height",'512')
        self.fps = rospy.get_param("~fps",'30')
        self.frame_id = rospy.get_param("~frame_id","camera_link_0")
        self.to_push_stream = rospy.get_param("~to_push_stream","True")
	self.cap = cv2.VideoCapture("v4l2src device=/dev/video0 ! video/x-raw, width=640, height=512 ! videoconvert ! video/x-raw,format=BGR ! appsink")     #生成读取摄像头对象
        

    def run(self):
        while not rospy.is_shutdown():
            ret, frame = self.cap.read()
            now = rospy.get_rostime()
            if ret:
                image_msg = self.br.cv2_to_imgmsg(frame)
                image_msg.header.stamp.secs = now.secs
                image_msg.header.stamp.nsecs = now.nsecs
                image_msg.header.frame_id = self.frame_id
                self.pub.publish(image_msg)
            else:
                break
            self.loop_rate.sleep()
        self.cap.release()

if __name__ == '__main__':
    rospy.init_node("image_publisher",anonymous=True)
    publisher = ImagePublisher()
    publisher.run()       

使用以下命令录制数据：

rosbag record -o xxx  /**1  /**2

xxx为希望保存话题的路径和名字
/**1 /**2 为希望录制的话题

但是这种情况很有可能出现以下错误

rosbag record buffer exceeded. Dropping oldest queued message

即录制的话题数太多了，处理器处理不过来，因此我们可以参考一下链接解决
http://wiki.ros.org/rosbag/Commandline#record

我的处理命令是：

resbag record -O xxx -b 4096 /**1 /**2

这样就会增大我的缓存空间，减少丢帧的可能