full upload so not to lose anything important

tools/list_topics.py

@@ -0,0 +1,37 @@
+from pathlib import Path
+
+import numpy as np
+from PIL import Image
+from rosbags.highlevel import AnyReader
+
+
+def list_topics(bag_file):
+    frame_count = 0
+    output_folder = Path("./test") / bag_file.stem
+    output_folder.mkdir(exist_ok=True, parents=True)
+
+    with AnyReader([bag_file]) as reader:
+        connections = reader.connections
+        topics = dict(sorted({conn.topic: conn for conn in connections}.items()))
+
+        topic = topics["/stereo_inertial_publisher/left/image_rect"]
+
+        for connection, timestamp, rawdata in reader.messages(connections=[topic]):
+            img_msg = reader.deserialize(rawdata, connection.msgtype)
+
+            img_data = np.frombuffer(img_msg.data, dtype=np.uint8).reshape(
+                (img_msg.height, img_msg.width)
+            )
+            img = Image.fromarray(img_data, mode="L")
+            frame_count += 1
+            img.save(output_folder / f"frame_{frame_count:04d}.png")
+
+        print(f"Saved {frame_count} frames to {output_folder}")
+
+
+if __name__ == "__main__":
+    bag_path = Path(
+        "/home/fedex/mt/data/subter/3_smoke_robot_stationary_static_excess_smoke_2023-01-23.bag"
+    )
+    print(f"{bag_path.exists()=}")
+    list_topics(bag_path)