学习笔记——.bag格式提取图片.ipg和点云.pcd

O_o就这？

于 2024-03-09 14:42:22 发布

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文章标签： python 计算机视觉 opencv

本文链接：https://blog.csdn.net/weixin_60003973/article/details/136582950

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1.查看话题

rosbag info yourname.bag

2.提取图片

创建工作空间和功能包

cd ~/catkin_ws/src
catkin_create_pkg my_package std_msgs rospy roscpp

在功能包src下创建script文件夹

cd script

创建需要的.py文件，编写Python脚本

#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

path='/home/hyper/Downloads/image/' #存放图片的位置
class ImageCreator():

    def __init__(self):
        self.bridge = CvBridge()
        with rosbag.Bag('2020-10-13-10-31-59.bag', 'r') as bag:   #要读取的bag文件；
            for topic,msg,t in bag.read_messages():
                if topic == "/mynteye/left/image_color":  #图像的topic；
                        try:
                            cv_image = self.bridge.imgmsg_to_cv2(msg,"bgr8&#