Question

Hello,

I have a rosbag file with compressed images recorded. The rosbag file is publishing the topic:

 "/xxxx/image_raw/compressed" of type "sensor_msgs/CompressedImage".

I want to write the subscriber in python.

I saw the following example from ROS wiki for subscribing the normal messages from chatter topic.

#!/usr/bin/env python

import rospy
from std_msgs.msg import String

def callback(data):
    rospy.loginfo(rospy.get_caller_id() + 'I heard %s', data.data)

def listener():

    rospy.init_node('listener', anonymous=True)

    rospy.Subscriber('chatter', String, callback)

    rospy.spin()

if __name__ == '__main__':
    listener()

I have changed it as:

#!/usr/bin/env python

import rospy
from sensor_msgs.msg import CompressedImage

def callback(data):
    rospy.loginfo(rospy.get_caller_id() + 'I heard %s', data.data)

def listener():

    rospy.init_node('image_subscriber', anonymous=True)

    rospy.Subscriber('/xxxx/image_raw/compressed', CompressedImage, callback)

    rospy.spin()

if __name__ == '__main__':
    listener()

Where should I make more changes so that it will subscribe to the topic /xxxx/image_raw/compressed and save images to the disk.

Please, provide me some guidelines.

Thanks!

ARM

Asked by ARM on 2018-04-28 07:25:12 UTC

Answer 1

To convert from compressed image to raw image, run the republish node.(Ref)

rosrun image_transport republish compressed in:=/xxxx/image_raw/compressed raw out:=/xxxx/image_raw/raw

Now in your node, you can subscribe to the raw topic, convert to cv2 image and save to disk.(Ref).

EDIT: You can directly convert the compressed ROS image to opencv matrix by using compressed_imgmsg_to_cv2(cmprs_img_msg). (Ref).

Asked by robotchicken on 2018-04-28 12:43:17 UTC

Comments

It means that when I execute rosrun image_transport command this will republish images into /xxxx/image_raw/raw.

And in subscriber node --> image_topic = "/xxxx/image_raw/raw"

Therefore the first step is to republish then execute subscriber node.

Please, clarify if I said something wrong!

Asked by ARM on 2018-04-28 16:00:18 UTC

Yes you are right, we republish as raw format first. Then in the subscriber node you subscribe to the republished raw topic and save the cv2 image onto disk. Please check the links for more details.

Asked by robotchicken on 2018-04-28 16:38:13 UTC

Check my edit, you don't have to use the republish node. My bad.

Asked by robotchicken on 2018-04-28 16:44:35 UTC

Please mark as resolved if this works out for you.

Asked by robotchicken on 2018-04-29 22:41:58 UTC

Thanks for your update! I am on it. Will update soon after successful execution.

Asked by ARM on 2018-04-30 03:37:35 UTC

Hi. When I execute my subscriber file, it shows nothing. I think I am missing something in my code. Please review. Thanks

Asked by ARM on 2018-04-30 05:40:31 UTC

Any update please!

Asked by ARM on 2018-05-02 02:56:04 UTC

Is there any message actually being published to the topic "/xxxx/image_raw/compressed"??? Do a "rostopic echo /xxxx/image_raw/compressed" and check if you receive any message. if you dont receive any, check your setup.

Asked by robotchicken on 2018-05-19 11:59:54 UTC

I checked it was publishing. But using the following code I directly took what I need without playing Bag file instead reading it with Python. Thanks @robotchicken

Asked by ARM on 2018-05-22 05:34:02 UTC

Answer 2

Execution: $ rosrun package_name file_name.py directory_name_to_store_information

#! /usr/bin/python

import os
import sys
import cv2
import csv
import rospy, rosbag
import numpy as np
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError

# Verifying output directory where Images and metadata(csv) will be stored

if len(sys.argv) == 2:
    out_dir = sys.argv[1]
    if not os.path.exists(sys.argv[1]):
        os.makedirs(out_dir)

    else:
        print sys.argv[1], 'already exists'
        sys.exit()

else:
    print 'specify output directory'
    sys.exit()

bridge = CvBridge()

def main():

    # Topic name 
    topicName0 = '/topic/image_raw/compressed'

    # Bag file 
    inbag_name ='/Path/2018-05-15-16-42-43.bag'

    bag = rosbag.Bag(inbag_name)

    for topic, msg, t in bag.read_messages():

        if(topic == topicName0 ):
            try:
                # Convert compressed image to RAW
                img = bridge.compressed_imgmsg_to_cv2(msg)

            except CvBridgeError, e:
                print(e)

            else:
                # Writing image to the directory mentioned while executing script
                cv2.imwrite(sys.argv[1]+'/frame_' + str(msg.header.stamp) + '.jpeg', img)

                # Saving metadata information as per requirement
                with open(sys.argv[1]+'/metadata.csv','ab') as f:
                    thewriter = csv.writer(f)
                    thewriter.writerow([str(msg.header.seq),str(msg.header.stamp),os.getcwd()+'/'+sys.argv[1]+'/', 'frame_'+ str(msg.header.stamp) + '.jpeg'])

    bag.close()
    rospy.spin()

if __name__ == "__main__":
    main()

Asked by ARM on 2018-05-17 05:32:20 UTC

Subscribing to compressed Images from rosbag

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