def bag_to_csv(filename):
bagfile = Bag(filename)
topics = init_topics(filename)
start_time = bagfile.get_start_time()
for topic, msg, timestamp in bagfile.read_messages(topics=topics.keys()):
formatter = topics[topic]['formatter']
data_line = formatter((topic,msg,timestamp,start_time))
topics[topic]['file'].write(', '.join(map(str,data_line)) + '\n')
for topic in topics.keys():
topics[topic]['file'].close()
bagfile.close()
def rosbaginfo(self, req):
response = RecordingGetBagInfoResponse()
response.filesize = int(os.path.getsize(req.filename) / 1e+6)
bag = Bag(req.filename, 'r')
response.filename = req.filename
response.starttime = bag.get_start_time()
response.endtime = bag.get_end_time()
response.topics = []
topicmap = bag.get_type_and_topic_info()[1]
for topic in topicmap.keys():
topicinfo = BagTopicInfo()
topicinfo.topicname = topic
topicinfo.messagecount = topicmap[topic].message_count
response.topics.append(topicinfo)
return response
def bag_to_blobs(filename):
bagfile = Bag(filename)
blobs = []
b_time = None
curr_blobs = [None, None]
poses = []
start_time = bagfile.get_start_time()
for topic, msg, timestamp in bagfile.read_messages():
if topic[-9:] == 'blob_list':
if len(msg.blobs) == 1:
m_time = msg.header.stamp.to_sec()
r_idx = int(topic[-20])
blob = [msg.blobs[0].x, msg.blobs[0].y]
#blobs.append([m_time,r_idx] + blob)
if b_time is None:
b_time = m_time
curr_blobs[r_idx] = blob
elif abs(b_time - m_time) < 0.001:
curr_blobs[r_idx] = blob
blobs.append([b_time] + curr_blobs[0] + curr_blobs[1])
b_time = None
curr_blobs = [None, None]
else:
b_time = m_time
curr_blobs = [None, None]
curr_blobs[r_idx] = blob
elif topic == '/tf':
for tf_msg in msg.transforms:
p_time = tf_msg.header.stamp.to_sec()
base_frame = tf_msg.header.frame_id
child_frame = tf_msg.child_frame_id
pos = tf_msg.transform.translation
pos = [pos.x, pos.y, pos.z]
ori = tf_msg.transform.rotation
ori = [ori.x, ori.y, ori.z, ori.w]
poses.append([p_time, base_frame, child_frame, pos, ori])
bagfile.close()
return blobs, poses