def crop_bag(bag_file, annotation_file):
if not os.path.exists(annotation_file):
print 'no annotations - skipping'
return
annotation_bag = rosbag.Bag(annotation_file, 'r')
bag = rosbag.Bag(bag_file.replace('compressed_',''), 'r')
wheelchair_bag_info = get_info(bag)
wheelchair_topics = [i['topic'] for i in wheelchair_bag_info['topics']]
annotation_bag_info = get_info(annotation_bag)
annotation_topics = [i['topic'] for i in annotation_bag_info['topics']]
if '/bag_interval' in annotation_topics:
annotation_topics.remove('/bag_interval')
intervals = []
for _, msg, time in annotation_bag.read_messages(topics=['/bag_interval']):
intervals.append(dur_to_startend(time, msg.data))
out_bag_path = annotation_path(bag_file, 'cropped')
out_bag = rosbag.Bag(out_bag_path, 'w')
extract_clusters(intervals, wheelchair_topics, bag, out_bag)
if annotation_topics:
for data in annotation_bag.read_messages(topics=annotation_topics):
out_bag.write(*data)
out_bag.close()
print 'wrote', out_bag_path
annotation_bag = rosbag.Bag(annotation_file, 'r')
bag = rosbag.Bag(bag_file.replace('compressed_',''), 'r')
wheelchair_bag_info = get_info(bag)
wheelchair_topics = [i['topic'] for i in wheelchair_bag_info['topics']]
annotation_bag_info = get_info(annotation_bag)
annotation_topics = [i['topic'] for i in annotation_bag_info['topics']]
if '/bag_interval' in annotation_topics:
annotation_topics.remove('/bag_interval')
intervals = []
for _, msg, time in annotation_bag.read_messages(topics=['/bag_interval']):
intervals.append(dur_to_startend(time, msg.data))
out_bag_path = annotation_path(bag_file, 'cropped')
out_bag = rosbag.Bag(out_bag_path, 'w')
extract_clusters(intervals, wheelchair_topics, bag, out_bag)
if annotation_topics:
for data in annotation_bag.read_messages(topics=annotation_topics):
out_bag.write(*data)
out_bag.close()
print 'wrote', out_bag_path
if __name__ == '__main__':
bag = rospy.myargv()[1]
crop_bag(bag, annotation_path(bag))
