The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
My case, below code is working faster and no errors.
{{{#!python import time, sys, os from ros import rosbag import roslib import rospy roslib.load_manifest('sensor_msgs') from sensor_msgs.msg import Image from cv_bridge import CvBridge
from PIL import ImageFile
import cv2
def GetFilesFromDir(dir): '''Generates a list of files from the directory''' print( "Searching directory %s" % dir ) all = [] left_files = [] right_files = [] if os.path.exists(dir): for path, names, files in os.walk(dir): for f in sorted(files): if os.path.splitext(f)[1] in ['.bmp', '.png', '.jpg', '.ppm']: if 'left' in f or 'left' in path: left_files.append( os.path.join( path, f ) ) elif 'right' in f or 'right' in path: right_files.append( os.path.join( path, f ) ) all.append( os.path.join( path, f ) ) return all, left_files, right_files
def CreateStereoBag(left_imgs, right_imgs, bagname): '''Creates a bag file containing stereo image pairs''' bag =rosbag.Bag(bagname, 'w')
try:
for i in range(len(left_imgs)):
print("Adding %s" % left_imgs[i])
img_left = cv2.imread(left_imgs[i])
img_right = cv2.imread(right_imgs[i])
bridge = CvBridge()
Stamp = roslib.rostime.Time.from_sec(time.time())
img_msg_left = Image()
img_msg_left.header.seq = i
img_msg_left.header.stamp = Stamp
img_msg_left.header.frame_id = "camera/left"
img_msg_left = bridge.cv2_to_imgmsg(img_left, "bgr8")
img_msg_right = Image()
img_msg_right.header.seq = i
img_msg_right.header.stamp = Stamp
img_msg_right.header.frame_id = "camera/right"
img_msg_right = bridge.cv2_to_imgmsg(img_right, "bgr8")
bag.write('camera/left/image_raw', img_msg_left, Stamp)
bag.write('camera/right/image_raw', img_msg_right, Stamp)
finally:
bag.close()
def CreateMonoBag(imgs, bagname): '''Creates a bag file with camera images''' bag =rosbag.Bag(bagname, 'w')
try:
for i in range(len(imgs)):
print("Adding %s" % imgs[i])
img = cv2.imread(imgs[i])
bridge = CvBridge()
Stamp = rospy.rostime.Time.from_sec(time.time())
img_msg = Image()
img_msg.header.seq = i
img_msg.header.stamp = Stamp
img_msg.header.frame_id = "camera"
img_msg = bridge.cv2_to_imgmsg(img, "bgr8")
bag.write('camera/image_raw', img_msg, Stamp)
finally:
bag.close()
def CreateBag(args): '''Creates the actual bag file by successively adding images''' all_imgs, left_imgs, right_imgs = GetFilesFromDir(args[0]) if len(all_imgs) <= 0: print("No images found in %s" % args[0]) exit()
if len(left_imgs) > 0 and len(right_imgs) > 0:
# create bagfile with stereo camera image pairs
CreateStereoBag(left_imgs, right_imgs, args[1])
else:
# create bagfile with mono camera image stream
CreateMonoBag(all_imgs, args[1])
if __name__ == "__main__": if len( sys.argv ) == 3: CreateBag( sys.argv[1:]) else: print( "Usage: img2bag imagedir bagfilename") }}}
| | 2 | No.2 Revision |
My case, below code is working faster and no errors.
{{{#!python
| | 3 | No.3 Revision |
My case, below code is working faster and no errors.errors. It's using cv_bridge package to make it faster.
import time, sys, os
from ros import rosbag
import roslib
import rospy
roslib.load_manifest('sensor_msgs')
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from PIL import ImageFile
import cv2
def GetFilesFromDir(dir):
'''Generates a list of files from the directory'''
print( "Searching directory %s" % dir )
all = []
left_files = []
right_files = []
if os.path.exists(dir):
for path, names, files in os.walk(dir):
for f in sorted(files):
if os.path.splitext(f)[1] in ['.bmp', '.png', '.jpg', '.ppm']:
if 'left' in f or 'left' in path:
left_files.append( os.path.join( path, f ) )
elif 'right' in f or 'right' in path:
right_files.append( os.path.join( path, f ) )
all.append( os.path.join( path, f ) )
return all, left_files, right_files
def CreateStereoBag(left_imgs, right_imgs, bagname):
'''Creates a bag file containing stereo image pairs'''
bag =rosbag.Bag(bagname, 'w')
try:
for i in range(len(left_imgs)):
print("Adding %s" % left_imgs[i])
img_left = cv2.imread(left_imgs[i])
img_right = cv2.imread(right_imgs[i])
bridge = CvBridge()
Stamp = roslib.rostime.Time.from_sec(time.time())
img_msg_left = Image()
img_msg_left.header.seq = i
img_msg_left.header.stamp = Stamp
img_msg_left.header.frame_id = "camera/left"
img_msg_left = bridge.cv2_to_imgmsg(img_left, "bgr8")
img_msg_right = Image()
img_msg_right.header.seq = i
img_msg_right.header.stamp = Stamp
img_msg_right.header.frame_id = "camera/right"
img_msg_right = bridge.cv2_to_imgmsg(img_right, "bgr8")
bag.write('camera/left/image_raw', img_msg_left, Stamp)
bag.write('camera/right/image_raw', img_msg_right, Stamp)
finally:
bag.close()
def CreateMonoBag(imgs, bagname):
'''Creates a bag file with camera images'''
bag =rosbag.Bag(bagname, 'w')
try:
for i in range(len(imgs)):
print("Adding %s" % imgs[i])
img = cv2.imread(imgs[i])
bridge = CvBridge()
Stamp = rospy.rostime.Time.from_sec(time.time())
img_msg = Image()
img_msg.header.seq = i
img_msg.header.stamp = Stamp
img_msg.header.frame_id = "camera"
img_msg = bridge.cv2_to_imgmsg(img, "bgr8")
bag.write('camera/image_raw', img_msg, Stamp)
finally:
bag.close()
def CreateBag(args):
'''Creates the actual bag file by successively adding images'''
all_imgs, left_imgs, right_imgs = GetFilesFromDir(args[0])
if len(all_imgs) <= 0:
print("No images found in %s" % args[0])
exit()
if len(left_imgs) > 0 and len(right_imgs) > 0:
# create bagfile with stereo camera image pairs
CreateStereoBag(left_imgs, right_imgs, args[1])
else:
# create bagfile with mono camera image stream
CreateMonoBag(all_imgs, args[1])
if __name__ == "__main__":
if len( sys.argv ) == 3:
CreateBag( sys.argv[1:])
else:
print( "Usage: img2bag imagedir bagfilename")
| | 4 | No.4 Revision |
My case, below code is working faster and no errors. It's using cv_bridge package to make it faster.
import time, sys, os
from ros import rosbag
import roslib
import rospy
roslib.load_manifest('sensor_msgs')
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from PIL import ImageFile
import cv2
def GetFilesFromDir(dir):
'''Generates a list of files from the directory'''
print( "Searching directory %s" % dir )
all = []
left_files = []
right_files = []
if os.path.exists(dir):
for path, names, files in os.walk(dir):
for f in sorted(files):
if os.path.splitext(f)[1] in ['.bmp', '.png', '.jpg', '.ppm']:
if 'left' in f or 'left' in path:
left_files.append( os.path.join( path, f ) )
elif 'right' in f or 'right' in path:
right_files.append( os.path.join( path, f ) )
all.append( os.path.join( path, f ) )
return all, left_files, right_files
def CreateStereoBag(left_imgs, right_imgs, bagname):
'''Creates a bag file containing stereo image pairs'''
bag =rosbag.Bag(bagname, 'w')
try:
for i in range(len(left_imgs)):
print("Adding %s" % left_imgs[i])
img_left = cv2.imread(left_imgs[i])
img_right = cv2.imread(right_imgs[i])
bridge = CvBridge()
Stamp = roslib.rostime.Time.from_sec(time.time())
img_msg_left = Image()
img_msg_left.header.seq = i
img_msg_left.header.stamp = Stamp
img_msg_left.header.frame_id = "camera/left"
img_msg_left = bridge.cv2_to_imgmsg(img_left, "bgr8")
img_msg_left.header.seq = i
img_msg_left.header.stamp = Stamp
img_msg_left.header.frame_id = "camera/left"
img_msg_right = Image()
img_msg_right.header.seq = i
img_msg_right.header.stamp = Stamp
img_msg_right.header.frame_id = "camera/right"
img_msg_right = bridge.cv2_to_imgmsg(img_right, "bgr8")
img_msg_right.header.seq = i
img_msg_right.header.stamp = Stamp
img_msg_right.header.frame_id = "camera/right"
bag.write('camera/left/image_raw', img_msg_left, Stamp)
bag.write('camera/right/image_raw', img_msg_right, Stamp)
finally:
bag.close()
def CreateMonoBag(imgs, bagname):
'''Creates a bag file with camera images'''
bag =rosbag.Bag(bagname, 'w')
try:
for i in range(len(imgs)):
print("Adding %s" % imgs[i])
img = cv2.imread(imgs[i])
bridge = CvBridge()
Stamp = rospy.rostime.Time.from_sec(time.time())
img_msg = Image()
img_msg.header.seq = i
img_msg.header.stamp = Stamp
img_msg.header.frame_id = "camera"
img_msg = bridge.cv2_to_imgmsg(img, "bgr8")
img_msg.header.seq = i
img_msg.header.stamp = Stamp
img_msg.header.frame_id = "camera"
bag.write('camera/image_raw', img_msg, Stamp)
finally:
bag.close()
def CreateBag(args):
'''Creates the actual bag file by successively adding images'''
all_imgs, left_imgs, right_imgs = GetFilesFromDir(args[0])
if len(all_imgs) <= 0:
print("No images found in %s" % args[0])
exit()
if len(left_imgs) > 0 and len(right_imgs) > 0:
# create bagfile with stereo camera image pairs
CreateStereoBag(left_imgs, right_imgs, args[1])
else:
# create bagfile with mono camera image stream
CreateMonoBag(all_imgs, args[1])
if __name__ == "__main__":
if len( sys.argv ) == 3:
CreateBag( sys.argv[1:])
else:
print( "Usage: img2bag imagedir bagfilename")
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.