python提取bag文件中的图片数据

import argparse
import pyrealsense2 as rs
import numpy as np
import cv2
import os

"""
this is a file for convert .bag files to .png files for RealSense RGB-D data
"""

# every n_skip, save one image
n_skip = 10


def main():
    if not os.path.exists(args.depth_directory):
        os.mkdir(args.depth_directory)
    if not os.path.exists(args.color_directory):
        os.mkdir(args.color_directory)
    try:
        pipeline = rs.pipeline()
        config = rs.config()
        rs.config.enable_device_from_file(config, args.input, repeat_playback=False)

        config.enable_stream(rs.stream.depth, 848, 480, rs.format.z16, 30)
        config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 30)

        pipeline.start(config)

        rs.align(rs.stream.color)
        # start to convert
        i = 0
        while i <= 300:  # fps = 30, usually, each video lasts around 10 sec.
            frames = pipeline.wait_for_frames()
            print("num", frames.frame_number)
            if i % n_skip == 0:
                print("Saving frame:", i)

                # saving depths
                depth_frame = frames.get_depth_frame()
                depth_image = np.asanyarray(depth_frame.get_data())
                cv2.imwrite(args.depth_directory + "/" + str(i).zfill(6) + ".png", depth_image)

                # saving RGBs
                color_frame = frames.get_color_frame()
                color_image = np.asanyarray(color_frame.get_data())
                print(color_image.shape)
                cv2.imwrite(args.color_directory + "/" + str(i).zfill(6) + ".png", color_image)
            i += 1

    finally:
        pass


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("-d_d", "--depth_directory", type=str, help="Path to save the depth images")
    parser.add_argument("-c_d", "--color_directory", type=str, help="Path to save the RGB images")
    parser.add_argument("-i", "--input", type=str, help="Bag file to read")
    args = parser.parse_args()

    main()