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rohanpsingh/bag_to_png.py

Last active April 26, 2023 08:53
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  1. rohanpsingh revised this gist Jul 2, 2020. 1 changed file with 1 addition and 1 deletion.
    2 changes: 1 addition & 1 deletion bag_to_png.py
    View file
    Original file line number Diff line number Diff line change
    @@ -58,7 +58,7 @@
    #cvimg = cvimg.astype(np.uint16) # uncomment this only for astra
    out_fn = os.path.join(out_dep_dir, fn + '.png')
    dep_file.write(fn + ' ' + 'depth/' + fn + '.png' + '\n')
    print "Depth: ", fn, cvimg.min(), cvimg.max(), type(cvimg), cvimg.dtype, cvimg.shape
    #print "Depth: ", fn, cvimg.min(), cvimg.max(), type(cvimg), cvimg.dtype, cvimg.shape

    #cv2.imshow(topic, cvimg)
    cv2.imwrite(out_fn, cvimg)
  2. rohanpsingh created this gist Jun 16, 2020.
    69 changes: 69 additions & 0 deletions bag_to_png.py
    View file
    Original file line number Diff line number Diff line change
    @@ -0,0 +1,69 @@
    import argparse
    import os
    import sys
    import cv2
    import matplotlib.pyplot as plt
    import numpy as np
    from cv_bridge import CvBridge, CvBridgeError
    sys.path.append("/usr/lib/python2.7/dist-packages/")
    import rospy
    import rosbag
    from sensor_msgs.msg import Image

    cv_bridge = CvBridge()

    if __name__ == '__main__':

    parser = argparse.ArgumentParser()
    parser.add_argument("--out", required=True, help = "name of output directory (will be created if not exist)")
    parser.add_argument("--rgb", required=True, help = "name of ROS topic for RGB images")
    parser.add_argument("--dep", required=True, help = "name of ROS topic for Depth images")
    parser.add_argument("--bag", required=True, help = "path to bag file")
    args = vars(parser.parse_args())

    out_dir = args["out"]
    rgb_topic = args["rgb"]
    dep_topic = args["dep"]
    bag_file = args["bag"]

    out_rgb_dir = os.path.join(out_dir, "rgb")
    out_dep_dir = os.path.join(out_dir, "depth")
    if not os.path.isdir(out_rgb_dir):
    os.makedirs(out_rgb_dir)
    if not os.path.isdir(out_dep_dir):
    os.makedirs(out_dep_dir)

    if not os.path.exists(bag_file):
    print("couldn't find bag file. check path")
    sys.exit(-1)

    bag = rosbag.Bag(bag_file)
    topics = bag.get_type_and_topic_info()[1].keys()

    #cv2.namedWindow(rgb_topic)
    #cv2.namedWindow(dep_topic)
    rgb_file = open(os.path.join(out_dir, 'rgb.txt'), 'w')
    dep_file = open(os.path.join(out_dir, 'depth.txt'), 'w')
    for topic, msg, t in bag.read_messages(topics=[rgb_topic, dep_topic]):
    fn = format(((rospy.rostime.Time.to_nsec(t)/1e9) - 1580300000), '.6f')
    try:
    if topic==rgb_topic:
    cvimg = cv_bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
    out_fn = os.path.join(out_rgb_dir, fn + '.png')
    rgb_file.write(fn + ' ' + 'rgb/' + fn + '.png' + '\n')
    #print "RGB: ", fn, cvimg.max(), type(cvimg), cvimg.dtype
    elif topic==dep_topic:
    cvimg = cv_bridge.imgmsg_to_cv2(msg, desired_encoding='passthrough')
    #cvimg = cvimg.copy()*1000.0 # uncomment this only for astra
    #cvimg = cvimg.astype(np.uint16) # uncomment this only for astra
    out_fn = os.path.join(out_dep_dir, fn + '.png')
    dep_file.write(fn + ' ' + 'depth/' + fn + '.png' + '\n')
    print "Depth: ", fn, cvimg.min(), cvimg.max(), type(cvimg), cvimg.dtype, cvimg.shape

    #cv2.imshow(topic, cvimg)
    cv2.imwrite(out_fn, cvimg)
    #cv2.waitKey(10)
    except CvBridgeError, e: print e
    rgb_file.close()
    dep_file.close()
    bag.close()