def find_bag_tracklets(directory, tracklet_dir):
bag_tracklets = []
bags = bu.find_bags(directory)
assert (len(bags) > 0)
for bag in bags:
tracklet_path = find_tracklet(bag, tracklet_dir)
if tracklet_path is not None:
bag_tracklets.append(BagTracklet(bag, tracklet_path))
return bag_tracklets
def main(argv=None):
if not tf.gfile.Exists(FLAGS.out_dir):
tf.gfile.MakeDirs(FLAGS.out_dir)
if FLAGS.bag_file:
print('Processing single bag. {}'.format(FLAGS.bag_file))
process_bag(FLAGS.bag_file)
elif FLAGS.bag_dir:
print('Processing bag folder. {}'.format(FLAGS.bag_dir))
bags = bu.find_bags(FLAGS.bag_dir)
for bag in bags:
process_bag(bag)
else:
print('Neither bag_file nor bag_dir specified.')
def convert_bag_help(self, input_bag):
output_file = get_points_filename(bag)
self.output_bag = rosbag.Bag(output_file, 'w')
self.processor.read_bag(input_bag)
# Allow last few messages to flow through self.on_lidar_msg() before closing output bag.
time.sleep(3)
with self.lock:
self.output_bag.close()
packet_count = bu.count_velodyne_packets(input_bag)
points_count = bu.count_velodyne_points(output_file)
missing_count = packet_count - points_count
print('Missing={}. Read={}. Wrote={}. Output={}.'.format(
missing_count, packet_count, points_count, output_file))
def on_lidar_msg(self, msg):
with self.lock:
self.output_bag.write('/velodyne_points', msg, msg.header.stamp)
if __name__ == '__main__':
bags = bu.find_bags('/data/')
writer = VelodynePointBagWriter()
for bag in bags:
writer.convert_bag(bag)