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