一. 软件安装教程
1. 安装rosbag：https://www.cnblogs.com/arkenstone/p/6676203.html
2. 安装mjepgtools和ffmpeg
$ sudo apt-get install mjepgtools
$ sudo apt-get install ffmpeg
二. 数据解析教程
1. 打开命令行，输入roscore，保持窗口不动
2. 打开第二个命令行窗口，输入rosbag info $.bag（bag的路径），获取信息如下，记住topic中的信息。 /image_raw对应图片topic；/points_raw对应点云的topic；
path: /home/cuicuizhang/Downloads/orign-data/data2/2020-07-29-15-58-56.bag
version: 2.0
duration: 2.9s
start: Jul 29 2020 15:58:56.38 (1596009536.38)
end: Jul 29 2020 15:58:59.26 (1596009539.26)
size: 221.5 MB
messages: 102
compression: none [102/102 chunks]
types: sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
topics: /image_raw 73 msgs : sensor_msgs/Image
/points_raw 29 msgs : sensor_msgs/PointCloud2
3. 解析图片：
3.1 将命令行窗口路径切换到图片保存的目录下
cd /home/cuicuizhang/Downloads/orign-data/data1/image
3.2 在该命令行下输入：rosrun pcl_ros pointcloud_to_pcd input:=<topic>
example：rosrun pcl_ros pointcloud_to_pcd input:=/image_raw
3.3 新开第三个命令行窗口，输入：rosbag play $.bag
example: rosbag play /home/cuicuizhang/Downloads/orign-data/data2/2020-07-29-15-58-56.bag
3.4 图片数据已经保存在/home/cuicuizhang/Downloads/orign-data/data1/image目录下
4. 解析pcd：
4.1 将命令行窗口路径切换到图片保存的目录下
cd /home/cuicuizhang/Downloads/orign-data/data1/pcd
4.2 在该命令行下输入：rosrun pcl_ros pointcloud_to_pcd input:=<topic>
example：rosrun pcl_ros pointcloud_to_pcd input:=/points_raw
4.3 新开第三个命令行窗口，输入：rosbag play $.bag
example: rosbag play /home/cuicuizhang/Downloads/orign-data/data2/2020-07-29-15-58-56.bag
4.4 图片数据已经保存在/home/cuicuizhang/Downloads/orign-data/data1/pcd目录下
5. 解析跟pcd对应的图片：
5.1 提取带时间戳的图片
# coding:utf-8
import roslib;
import rosbag
import rospy
import cv2
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from cv_bridge import CvBridgeError
path = '/media/cuicuizhang/hold/2020.8.14bag/pics/01/img/' # 存放图片的位置
class ImageCreator():
def __init__(self):
self.bridge = CvBridge()
with rosbag.Bag('/media/cuicuizhang/hold/2020.8.14bag/01.bag', 'r') as bag: # 要读取的bag文件；
for topic, msg, t in bag.read_messages():
if topic == "/image_raw": # 图像的topic；
try:
cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
except CvBridgeError as e:
print e
timestr = "%.9f" % msg.header.stamp.to_sec()
# %.6f表示小数点后带有6位，可根据精确度需要修改；
image_name = timestr + ".jpg" # 图像命名：时间戳.jpg
print (path + image_name)
cv2.imwrite(path + image_name, cv_image) # 保存；
if __name__ == '__main__':
# rospy.init_node(PKG)
try:
image_creator = ImageCreator()
except rospy.ROSInterruptException:
pass
5.2 找到与pcd最近的时间戳的图片，重命名
import numpy as np
img_path_list = "/media/cuicuizhang/hold/2020.8.14bag/pics/06/jpg.txt"
pcd_path_list = "/media/cuicuizhang/hold/2020.8.14bag/pics/06/pcd.txt"
img_to_pcd_list = "/media/cuicuizhang/hold/2020.8.14bag/pics/06/jp.sh"
img_list = []
pcd_list = []
with open(img_path_list) as fimg:
lines = fimg.readlines()
for line in lines:
img_list.append(line.strip().split('.jpg')[0])
with open(pcd_path_list) as fpcd:
lines = fpcd.readlines()
for line in lines:
pcd_list.append(line.strip().split('.pcd')[0])
with open(img_to_pcd_list,'w') as fw:
for pcd in pcd_list:
print("pcd:", pcd)
idx = np.searchsorted(img_list, pcd) - 1
mask = idx >= 0
if idx + 1 < len(img_list) and abs(float(img_list[idx])-float(pcd))>abs(float(img_list[idx+1])-float(pcd)):
mask = idx+1
else:
mask = idx
print("img:",img_list[mask])
fw.write("cp img/")
fw.write(img_list[mask])
fw.write('.jpg ')
fw.write('img_correct/')
fw.write(pcd)
fw.write(".jpg")
fw.write('\n')
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