RealSense .bag文件彩色图，深度图提取

RealSense .bag文件彩色图，深度图提取

代码

import roslib
import rosbag
import rospy
import cv2
import os
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from cv_bridge import CvBridgeError


rgb_path = './rgb/'# absolute path of extracted rgb images
depth_path = './depth/'# absolute path of extracted depth images
bridge = CvBridge()
with rosbag.Bag('20230308_194638.bag', 'r') as bag: # path for the bag
    for topic,msg,t in bag.read_messages():
        if topic == "/device_0/sensor_0/Depth_0/image/data":  #topic different from devices
            cv_image = bridge.imgmsg_to_cv2(msg, "mono16") #Z16对应 mono16
            timestr = "%.8f" %  msg.header.stamp.to_sec()
            image_name = timestr + '.png'
            cv2.imwrite(depth_path + image_name, cv_image)
           # print(depth_path + image_name)
        if topic == "/device_0/sensor_1/Color_0/image/data": #topic different from devices
            cv_image = bridge.imgmsg_to_cv2(msg, "bgr8") # 尤其注意这个编码
            timestr = "%.8f" %  msg.header.stamp.to_sec()
            image_name = timestr + '.png'
            cv2.imwrite(rgb_path + image_name, cv_image)

需要注意的是topic，这个不同的设备可能有所区别；还有rgb的编码应该是 bgr8，深度图的编码 mono16

相关库的安装

rosbag

pip install --extra-index-url https://rospypi.github.io/simple/ rosbag
pip install roslz4 --extra-index-url https://rospypi.github.io/simple/

cv_bridge

1. 下载源码https://codeload.github.com/ros-perception/vision_opencv/zip/refs/heads/noetic

2. cd至cv_bridge文件夹

3. 然后命令行安装

   python setup.py install
   

sensor_image and geometry_msgs

pip install sensor_msgs --extra-index-url https://rospypi.github.io/simple/
pip install geometry_msgs --extra-index-url https://rospypi.github.io/simple/

rospy

pip install -i https://pypi.douban.com/simple rospy

cv_bridge.boost

在这里下载 https://github.com/rospypi/simple/raw/any/cv-bridge/cv_bridge-1.13.0.post0-py2.py3-none-any.whl

pip install cv_bridge-1.13.0.post0-py2.py3-none-any.whl

参考

https://www.cnblogs.com/yunhgu/p/15785460.html

【Windows配置三】Python3.6安装rosbag