做网站的论坛,1微信网站怎么建设,重庆忠县网站建设公司哪家专业,多用户分销系统一般有哪些文章目录一、 rosbag 导出指定话题生成新rosbag二、 rosbag 导出视频1. 脚本工具源码2. 操作2.1 安装 ffmpeg2.2 导出视频3. 视频截取4. 压缩视频附录#xff1a;rosbag2video.py 源码一、 rosbag 导出指定话题生成新rosbag
rosbag filter 2023-02-25-19-16-01.bag depth.bag…
文章目录一、 rosbag 导出指定话题生成新rosbag二、 rosbag 导出视频1. 脚本工具源码2. 操作2.1 安装 ffmpeg2.2 导出视频3. 视频截取4. 压缩视频附录rosbag2video.py 源码一、 rosbag 导出指定话题生成新rosbag
rosbag filter 2023-02-25-19-16-01.bag depth.bag (topic depth/depth_raw)
二、 rosbag 导出视频
1. 脚本工具源码
参考附录
2. 操作
2.1 安装 ffmpeg
sudo apt-get install ffmpeg
2.2 导出视频
将附录脚本放在待转rosbag一个文件路径下,使用下面命令导出视频。 python rosbag2mp4.py -t depth/depth_raw 2023-02-25-19-16-01.bag
3. 视频截取
ffmpeg -i rm_75_01.mp4 -ss 00:00:05 -t 00:00:54 -acodec aac -vcodec h264 -strict -2 output.mp4
-i为视频名称-ss为剪辑起始时间-t为剪辑时长(视频持续时长
4. 压缩视频
在视频文件夹下打开termial压缩视频 ffmpeg -i Video.avi -fs 30MB save-name.mp4
附录rosbag2video.py 源码
#!/usr/bin/env python3
rosbag2video.py
rosbag to video file conversion tool
by Abel Gabor 2019
baquatellegmail.com
requirements:
sudo apt install python3-roslib python3-sensor-msgs python3-opencv ffmpeg
based on the tool by Maximilian Laiacker 2016
postmlaiacker.deimport roslib
#roslib.load_manifest(rosbag)
import rospy
import rosbag
import sys, getopt
import os
from sensor_msgs.msg import CompressedImage
from sensor_msgs.msg import Image
import cv2import numpy as npimport shlex, subprocessMJPEG_VIDEO 1
RAWIMAGE_VIDEO 2
VIDEO_CONVERTER_TO_USE ffmpeg # or you may want to use avconvdef print_help():print(rosbag2video.py [--fps 25] [--rate 1] [-o outputfile] [-v] [-s] [-t topic] bagfile1 [bagfile2] ...)print()print(Converts image sequence(s) in ros bag file(s) to video file(s) with fixed frame rate using,VIDEO_CONVERTER_TO_USE)print(VIDEO_CONVERTER_TO_USE,needs to be installed!)print()print(--fps Sets FPS value that is passed to,VIDEO_CONVERTER_TO_USE)print( Default is 25.)print(-h Displays this help.)print(--ofile (-o) sets output file name.)print( If no output file name (-o) is given the filename \prefixtopic.mp4\ is used and default output codec is h264.)print( Multiple image topics are supported only when -o option is _not_ used.)print( ,VIDEO_CONVERTER_TO_USE, will guess the format according to given extension.)print( Compressed and raw image messages are supported with mono8 and bgr8/rgb8/bggr8/rggb8 formats.)print(--rate (-r) You may slow down or speed up the video.)print( Default is 1.0, that keeps the original speed.)print(-s Shows each and every image extracted from the rosbag file (cv_bride is needed).)print(--topic (-t) Only the images from topic topic are used for the video output.)print(-v Verbose messages are displayed.)print(--prefix (-p) set a output file name prefix othervise \bagfile1\ is used (if -o is not set).)print(--start Optional start time in seconds.)print(--end Optional end time in seconds.)class RosVideoWriter():def __init__(self, fps25.0, rate1.0, topic, output_filename , display False, verbose False, start rospy.Time(0), end rospy.Time(sys.maxsize)):self.opt_topic topicself.opt_out_file output_filenameself.opt_verbose verboseself.opt_display_images displayself.opt_start startself.opt_end endself.rate rateself.fps fpsself.opt_prefix Noneself.t_first{}self.t_file{}self.t_video{}self.p_avconv {}def parseArgs(self, args):opts, opt_files getopt.getopt(args,hsvr:o:t:p:,[fps,rate,ofile,topic,start,end,prefix])for opt, arg in opts:if opt -h:print_help()sys.exit(0)elif opt -s:self.opt_display_images Trueelif opt -v:self.opt_verbose Trueelif opt in (--fps):self.fps float(arg)elif opt in (-r, --rate):self.rate float(arg)elif opt in (-o, --ofile):self.opt_out_file argelif opt in (-t, --topic):self.opt_topic argelif opt in (-p, --prefix):self.opt_prefix argelif opt in (--start):self.opt_start rospy.Time(int(arg))if(self.opt_verbose):print(starting at,self.opt_start.to_sec())elif opt in (--end):self.opt_end rospy.Time(int(arg))if(self.opt_verbose):print(ending at,self.opt_end.to_sec())else:print(opz:, opt,arg:, arg)if (self.fps0):print(invalid fps, self.fps)self.fps 1if (self.rate0):print(invalid rate, self.rate)self.rate 1if(self.opt_verbose):print(using ,self.fps, FPS)return opt_files# filter messages using type or only the opic we whant from the topic argumentdef filter_image_msgs(self, topic, datatype, md5sum, msg_def, header):if(datatypesensor_msgs/CompressedImage):if (self.opt_topic ! and self.opt_topic topic) or self.opt_topic :print(############# COMPRESSED IMAGE ######################)print(topic, with datatype:, str(datatype))print()return True;if(datatypetheora_image_transport/Packet):if (self.opt_topic ! and self.opt_topic topic) or self.opt_topic :print(topic, with datatype:, str(datatype))print(!!! theora is not supported, sorry !!!)return False;if(datatypesensor_msgs/Image):if (self.opt_topic ! and self.opt_topic topic) or self.opt_topic :print(############# UNCOMPRESSED IMAGE ######################)print(topic, with datatype:, str(datatype))print()return True;return False;def write_output_video(self, msg, topic, t, video_fmt, pix_fmt ):# no data in this topicif len(msg.data) 0 :return# initiate data for this topicif not topic in self.t_first :self.t_first[topic] t # timestamp of first image for this topicself.t_video[topic] 0self.t_file[topic] 0# if multiple streams of images will start at different times the resulting video files will not be in sync# current offset time we are in the bag fileself.t_file[topic] (t-self.t_first[topic]).to_sec()# fill video file up with images until we reache the current offset from the beginning of the bag filewhile self.t_video[topic] self.t_file[topic]/self.rate :if not topic in self.p_avconv:# we have to start a new process for this topicif self.opt_verbose :print(Initializing pipe for topic, topic, at time, t.to_sec())if self.opt_out_file:out_file self.opt_prefix str(topic).replace(/, _).mp4else:out_file self.opt_out_fileif self.opt_verbose :print(Using output file , out_file, for topic , topic, .)if video_fmt MJPEG_VIDEO :cmd [VIDEO_CONVERTER_TO_USE, -v, 1, -stats, -r,str(self.fps),-c,mjpeg,-f,mjpeg,-i,-,-an,out_file]self.p_avconv[topic] subprocess.Popen(cmd, stdinsubprocess.PIPE)if self.opt_verbose :print(Using command line:)print(cmd)elif video_fmt RAWIMAGE_VIDEO :size str(msg.width)xstr(msg.height)cmd [VIDEO_CONVERTER_TO_USE, -v, 1, -stats,-r,str(self.fps),-f,rawvideo,-s,size,-pix_fmt, pix_fmt,-i,-,-an,out_file]self.p_avconv[topic] subprocess.Popen(cmd, stdinsubprocess.PIPE)if self.opt_verbose :print(Using command line:)print(cmd)else :print(Script error, unknown value for argument video_fmt in function write_output_video.)exit(1)# send data to ffmpeg process pipeself.p_avconv[topic].stdin.write(msg.data)# next frame timeself.t_video[topic] 1.0/self.fpsdef addBag(self, filename):if self.opt_display_images:from cv_bridge import CvBridge, CvBridgeErrorbridge CvBridge()cv_image []if self.opt_verbose :print(Bagfile: {}.format(filename))if not self.opt_prefix:# create the output in the same folder and name as the bag file minu .bagself.opt_prefix bagfile[:-4]#Go through the bag filebag rosbag.Bag(filename)if self.opt_verbose :print(Bag opened.)# loop over all topicsfor topic, msg, t in bag.read_messages(connection_filterself.filter_image_msgs, start_timeself.opt_start, end_timeself.opt_end):try:if msg.format.find(jpeg)!-1 :if msg.format.find(8)!-1 and (msg.format.find(rgb)!-1 or msg.format.find(bgr)!-1 or msg.format.find(bgra)!-1 ):if self.opt_display_images:np_arr np.fromstring(msg.data, np.uint8)cv_image cv2.imdecode(np_arr, cv2.CV_LOAD_IMAGE_COLOR)self.write_output_video( msg, topic, t, MJPEG_VIDEO )elif msg.format.find(mono8)!-1 :if self.opt_display_images:np_arr np.fromstring(msg.data, np.uint8)cv_image cv2.imdecode(np_arr, cv2.CV_LOAD_IMAGE_COLOR)self.write_output_video( msg, topic, t, MJPEG_VIDEO )elif msg.format.find(16UC1)!-1 :if self.opt_display_images:np_arr np.fromstring(msg.data, np.uint16)cv_image cv2.imdecode(np_arr, cv2.CV_LOAD_IMAGE_COLOR)self.write_output_video( msg, topic, t, MJPEG_VIDEO )else:print(unsupported jpeg format:, msg.format, ., topic)# has no attribute formatexcept AttributeError:try:pix_fmtNoneif msg.encoding.find(mono8)!-1 or msg.encoding.find(8UC1)!-1:pix_fmt grayif self.opt_display_images:cv_image bridge.imgmsg_to_cv2(msg, bgr8)elif msg.encoding.find(bgra)!-1 :pix_fmt bgraif self.opt_display_images:cv_image bridge.imgmsg_to_cv2(msg, bgr8)elif msg.encoding.find(bgr8)!-1 :pix_fmt bgr24if self.opt_display_images:cv_image bridge.imgmsg_to_cv2(msg, bgr8)elif msg.encoding.find(bggr8)!-1 :pix_fmt bayer_bggr8if self.opt_display_images:cv_image bridge.imgmsg_to_cv2(msg, bayer_bggr8)elif msg.encoding.find(rggb8)!-1 :pix_fmt bayer_rggb8if self.opt_display_images:cv_image bridge.imgmsg_to_cv2(msg, bayer_rggb8)elif msg.encoding.find(rgb8)!-1 :pix_fmt rgb24if self.opt_display_images:cv_image bridge.imgmsg_to_cv2(msg, bgr8)elif msg.encoding.find(16UC1)!-1 :pix_fmt gray16leelse:print(unsupported encoding:, msg.encoding, topic)#exit(1)if pix_fmt:self.write_output_video( msg, topic, t, RAWIMAGE_VIDEO, pix_fmt )except AttributeError:# maybe theora packet# theora not supportedif self.opt_verbose :print(Could not handle this format. Maybe thoera packet? theora is not supported.)passif self.opt_display_images:cv2.imshow(topic, cv_image)keycv2.waitKey(1)if key1048603:exit(1)if self.p_avconv {}:print(No image topics found in bag:, filename)bag.close()if __name__ __main__:#print()#print(rosbag2video, by Maximilian Laiacker 2020 and Abel Gabor 2019)#print()if len(sys.argv) 2:print(Please specify ros bag file(s)!)print_help()sys.exit(1)else :videowriter RosVideoWriter()try:opt_files videowriter.parseArgs(sys.argv[1:])except getopt.GetoptError:print_help()sys.exit(2)# loop over all filesfor files in range(0,len(opt_files)):#First arg is the bag to look atbagfile opt_files[files]videowriter.addBag(bagfile)print(finished)
