v01

thirdparty/ros/ros_comm/tools/rosbag/scripts/bag2png.py

@@ -0,0 +1,69 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2009, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import sys
+import array
+import Image
+
+import rospy
+import rosbag
+
+def int16_str(d):
+    return array.array('B', [ min(x, 255) for x in d ]).tostring()
+    #return array.array('f', [ float(x) for x in d ]).tostring()
+
+def msg2im(msg):
+    """Take an sensor_msgs/Image and return a PIL image"""
+    if len(msg.uint8_data.data) == 0 and len(msg.int16_data.data) == 0:
+        return None
+    
+    if msg.depth == 'uint8':
+        ma, image_data = msg.uint8_data, ma.data
+    else:
+        ma, image_data = msg.int16_data, int16_str(ma.data)
+        
+    dim = dict([(d.label, d.size) for d in ma.layout.dim])
+    mode = { ('uint8',1) : "L", ('uint8',3) : "RGB", ('int16',1) : "L" }[msg.depth, dim['channel']]
+    (w, h) = (dim['width'], dim['height'])
+
+    return Image.fromstring(mode, (w, h), image_data)
+
+counter = 0
+for topic, msg, t in rosbag.Bag(sys.argv[1]).read_messages():
+    if topic.endswith('stereo/raw_stereo'):
+        for (mi, c) in [ (msg.left_image, 'L'), (msg.right_image, 'R'), (msg.disparity_image, 'D')]:
+            im = msg2im(mi)
+            if im:
+                ext = { 'L':'png', 'RGB':'png', 'F':'tiff' }[im.mode]
+                im.save('%06d%s.%s' % (counter, c, ext))
+        counter += 1