【学习笔记】使用python带时间戳提取rosbag中的图像和雷达数据

使用sick的TIM561雷达采集数据，topic nam是/scan，摄像头录制图像，topic name是/usb_cam/image_raw。脚本如下：

# coding:utf-8
#!/usr/bin/python
 
# Extract images from a bag file.
 
#PKG = 'beginner_tutorials'
import roslib;   #roslib.load_manifest(PKG)
import rosbag
import rospy
import cv2
import os
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from cv_bridge import CvBridgeError
 
# Reading bag filename from command line or roslaunch parameter.
#import os
#import sys
 
rgb_path = '/home/kanghao/bagfiles/bag_image/'
laser_path= '/home/kanghao/bagfiles/laser_data/'
 
class ImageCreator():
    def __init__(self):
        self.bridge = CvBridge()
        with rosbag.Bag('/home/kanghao/bagfiles/2019-02-19-15-23-09.bag', 'r') as bag:  #要读取的bag文件；
            for topic,msg,t in bag.read_messages():
                if topic == "/usb_cam/image_raw&#