38 lines
1.2 KiB
Python
38 lines
1.2 KiB
Python
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from pathlib import Path
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import numpy as np
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from PIL import Image
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from rosbags.highlevel import AnyReader
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def list_topics(bag_file):
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frame_count = 0
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output_folder = Path("./test") / bag_file.stem
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output_folder.mkdir(exist_ok=True, parents=True)
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with AnyReader([bag_file]) as reader:
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connections = reader.connections
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topics = dict(sorted({conn.topic: conn for conn in connections}.items()))
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topic = topics["/stereo_inertial_publisher/left/image_rect"]
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for connection, timestamp, rawdata in reader.messages(connections=[topic]):
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img_msg = reader.deserialize(rawdata, connection.msgtype)
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img_data = np.frombuffer(img_msg.data, dtype=np.uint8).reshape(
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(img_msg.height, img_msg.width)
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)
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img = Image.fromarray(img_data, mode="L")
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frame_count += 1
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img.save(output_folder / f"frame_{frame_count:04d}.png")
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print(f"Saved {frame_count} frames to {output_folder}")
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if __name__ == "__main__":
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bag_path = Path(
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"/home/fedex/mt/data/subter/3_smoke_robot_stationary_static_excess_smoke_2023-01-23.bag"
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)
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print(f"{bag_path.exists()=}")
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list_topics(bag_path)
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