python示例代码 将rosbag中的sensor_msgs/CompressedImage类型话题转为mp4视频保存
时间: 2024-05-16 09:11:53 浏览: 24
可以使用OpenCV库将ROSbag文件里的Compressed Image类型的话题转换为视频文件,示例代码如下:
```python
import rospy
import cv2
from sensor_msgs.msg import CompressedImage
# Define the ROS node
rospy.init_node('bag_to_video')
# Load the ROSbag file
bag_file = "your_rosbag_file.bag"
# Load the ROSbag topic
bag_topic = "/your_topic"
# Initialize the OpenCV video writer object
fourcc = cv2.VideoWriter_fourcc(*"mp4v")
video = cv2.VideoWriter("output.mp4", fourcc, 20, (640, 480))
# Define the ROS message callback function
def message_callback(data):
# Decode the compressed image message
np_arr = np.fromstring(data.data, np.uint8)
image = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
# Write the image to the video file
video.write(image)
# Subscribe to the ROS topic
rospy.Subscriber(bag_topic, CompressedImage, message_callback)
# Play the ROSbag file and write to the video file
rosbag.play(bag_file)
# Release the OpenCV video writer object
video.release()
```
运行上述代码即可将ROSbag文件里的Compressed Image类型的话题转换为MP4视频并保存。