def sortbags(inbag, outbag):
rebag = grosbag.Bag(outbag, 'w')
try:
schedule = [(t, i) for i, (
topic, msg,
t) in enumerate(grosbag.Bag(inbag).read_messages(raw=True))]
schedule = [i for (t, i) in sorted(schedule)]
print(schedule)
stage = {}
for i, (topic, msg,
t) in enumerate(grosbag.Bag(inbag).read_messages(raw=True)):
stage[i] = (topic, msg, t)
while (len(schedule) > 0) and (schedule[0] in stage):
(topic, msg, t) = stage[schedule[0]]
rebag.write(topic, msg, t, raw=True)
del stage[schedule[0]]
schedule = schedule[1:]
assert schedule == []
assert stage == {}
finally:
rebag.close()
def fixbags(md5file, inbag, outbag):
d = {}
for line in fileinput.input(md5file):
sp = line.split()
d[sp[1]] = [sp[0], sp[2], sp[3]]
rebag = grosbag.Bag(outbag, 'w')
for topic, msg, t in grosbag.Bag(inbag).read_messages(raw=True):
type, bytes, md5 = msg[0], msg[1], msg[2]
if md5 in d:
if type != d[md5][0]:
print('WARNING: found matching md5, but non-matching name')
continue
msg = (d[md5][1], msg[1], d[md5][2])
rebag.write(topic, msg, t, raw=True)
rebag.close()
def fix_md5sums(inbags):
for b in inbags:
print('Trying to migrating file: %s' % b)
outbag = b + '.tmp'
rebag = grosbag.Bag(outbag, 'w')
try:
for i, (topic, msg,
t) in enumerate(grosbag.Bag(b).read_messages(raw=True)):
rebag.write(topic, msg, t, raw=True)
rebag.close()
except grosbag.ROSBagException as e:
print(' Migration failed: %s' % str(e))
os.remove(outbag)
continue
oldnamebase = b + '.old'
oldname = oldnamebase
i = 1
while os.path.isfile(oldname):
i += 1
oldname = oldnamebase + str(i)
os.rename(b, oldname)
os.rename(outbag, b)
print(' Migration successful. Original stored as: %s' % oldname)
'-b',
'--bagfiles',
action='store',
dest='bagfile',
default=None,
help='Save message from a bagfile rather than system definition')
(options, args) = parser.parse_args()
if len(args) < 1:
parser.error('Message type not specified.')
if options.bagfile is None:
sys_class = roslib.message.get_message_class(args[0])
if sys_class is None:
print('Could not find message %s.' % args[0], file=sys.stderr)
else:
print('[%s]:' % args[0])
print(sys_class._full_text)
else:
for topic, msg, t in grosbag.Bag(
options.bagfile).read_messages(raw=True):
if msg[0] == args[0]:
print('[%s]:' % args[0])
print(msg[4]._full_text)
exit(0)
print('Could not find message %s in bag %s.' %
(args[0], options.bagfile),
file=sys.stderr)
def fastrebag(inbag, outbag):
rebag = grosbag.Bag(outbag, 'w')
for i, (topic, msg,
t) in enumerate(grosbag.Bag(inbag).read_messages(raw=True)):
rebag.write(topic, msg, t, raw=True)
rebag.close()
#
# 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.
# %Tag(WRITE_PY)%
import grosbag
from std_msgs.msg import Int32, String
bag = grosbag.Bag('test.bag', 'w')
str = String()
str.data = 'foo'
i = Int32()
i.data = 42
bag.write('chatter', str)
bag.write('numbers', i)
bag.close()
# %EndTag(WRITE_PY)%
def rename_topic(intopic, inbag, outtopic, outbag):
rebag = grosbag.Bag(outbag, 'w')
for topic, msg, t in grosbag.Bag(inbag).read_messages(raw=True):
rebag.write(outtopic if topic == intopic else topic, msg, t, raw=True)
rebag.close()
"""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 grosbag.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