migrate_diamondback_bag.py

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#!/usr/bin/env python
import roslib; roslib.load_manifest('rosbag')
import rospy
import rosbag
import os
import sys

def fix(infile, outfile):
    sys.stderr.write("Fixing {0} and writing to {1}".format(infile, outfile))
    with rosbag.Bag(infile, 'r') as bag:
        with rosbag.Bag(outfile, 'w') as outbag:
            UNMODIFIED_TOPICS = ['base_scan', 'camera/depth/camera_info',
                                 'camera/rgb/camera_info', 'camera/rgb/image_raw',
                                 'map', 'tf', 'tilt_scan_filtered']
            DEPTH_TOPIC = 'camera/depth/image_raw'

            # First, write out the unmodified topics as is, without serializing
            i = 0
            for topic, msg, stamp in bag.read_messages(topics=UNMODIFIED_TOPICS,
                                                       raw=True):
                outbag.write(topic, msg, t=stamp, raw=True)
                i += 1
                if i%10000==0:
                    sys.stderr.write('.')

            # Next, write out the depth image messages, and fix the encoding
            for topic, msg, stamp in bag.read_messages(topics=[DEPTH_TOPIC],
                                                       raw=False):
                assert msg.encoding=='16SC1' or msg.encoding=='',\
                       "Received unexpected encoding {0}".\
                       format(msg.encoding)
                msg.encoding = '16UC1'
                outbag.write(topic, msg, t=stamp, raw=False)
                i += 1
                if i%10000==0:
                    sys.stderr.write('.')
    sys.stderr.write('\n')
                
            


if __name__ == '__main__':
    if len(sys.argv) < 3:
        print "Usage: {0} OUTPATH INFILE1 ...".format(sys.argv[0])
        sys.exit(1)
    for f in sys.argv[2:]:
        outfile = os.path.join(sys.argv[1], os.path.basename(f))
        fix(f, outfile)