process_structure.py

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#!/usr/bin/env python

import roslib; roslib.load_manifest('articulation_structure')
import rospy
import sys
from visualization_msgs.msg import Marker, MarkerArray
from geometry_msgs.msg import Vector3, Point, Pose, PoseArray
from std_msgs.msg import ColorRGBA
from sensor_msgs.msg import ChannelFloat32,CameraInfo,CompressedImage
from articulation_msgs.msg import *
from articulation_msgs.srv import *
from articulation_models.track_utils import *
import process_bags

def main():
        rospy.init_node('process_structure')
        if len(rospy.myargv()) != 3:
                print "Usage: process_structure <in.bag> <out.bag>"
                return

        infile = rospy.myargv()[1]
        outfile = rospy.myargv()[2]

        in_topics = ['/camera/camera_info','/camera/image_raw/compressed',
                        '/camera/pose_array','/camera/visualization_marker_array']
        in_types = [CameraInfo,CompressedImage,PoseArray,MarkerArray]

        out_topics = ['/track','/model','/structure_array','/object']
        out_types = [TrackMsg,ModelMsg,MarkerArray,ArticulatedObjectMsg]

        timeout = 5

        process_bags.process_bags(infile,in_topics,in_types,
                                                                outfile,out_topics,out_types,
                                                                timeout)


if __name__ == '__main__':
  main()