change_camera_info.py
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00001 #!/usr/bin/python
00002 """
00003 Copyright (c) 2012,
00004 Systems, Robotics and Vision Group
00005 University of the Balearican Islands
00006 All rights reserved.
00007 
00008 Redistribution and use in source and binary forms, with or without
00009 modification, are permitted provided that the following conditions are met:
00010     * Redistributions of source code must retain the above copyright
00011       notice, this list of conditions and the following disclaimer.
00012     * Redistributions in binary form must reproduce the above copyright
00013       notice, this list of conditions and the following disclaimer in the
00014       documentation and/or other materials provided with the distribution.
00015     * Neither the name of Systems, Robotics and Vision Group, University of 
00016       the Balearican Islands nor the names of its contributors may be used to 
00017       endorse or promote products derived from this software without specific 
00018       prior written permission.
00019 
00020 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00021 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00022 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00023 DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
00024 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00025 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00026 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00027 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00028 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00029 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00030 """
00031 
00032 
00033 PKG = 'bag_tools' # this package name
00034 
00035 import roslib; roslib.load_manifest(PKG)
00036 import rospy
00037 import rosbag
00038 import os
00039 import sys
00040 import argparse
00041 import yaml
00042 import sensor_msgs.msg
00043 
00044 def change_camera_info(inbag,outbag,replacements):
00045   print '   Processing input bagfile: ', inbag
00046   print '  Writing to output bagfile: ', outbag
00047   # parse the replacements
00048   maps = {}
00049   for k, v in replacements.items():
00050     print 'Changing topic', k, 'to contain following info (header will not be changed):\n', v
00051 
00052   outbag = rosbag.Bag(outbag,'w')
00053   for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
00054     if topic in replacements:
00055       new_msg = replacements[topic]
00056       new_msg.header = msg.header
00057       msg = new_msg
00058     outbag.write(topic, msg, t)
00059   print 'Closing output bagfile and exit...'
00060   outbag.close();
00061 
00062 def replacement(replace_string):
00063   pair = replace_string.split('=', 1)
00064   if len(pair) != 2:
00065     raise argparse.ArgumentTypeError("Replace string must have the form /topic=calib_file.yaml")
00066   if pair[0][0] != '/':
00067     pair[0] = '/'+pair[0]
00068   stream = file(pair[1], 'r')
00069   calib_data = yaml.load(stream)
00070   cam_info = sensor_msgs.msg.CameraInfo()
00071   cam_info.width = calib_data['image_width']
00072   cam_info.height = calib_data['image_height']
00073   cam_info.K = calib_data['camera_matrix']['data']
00074   cam_info.D = calib_data['distortion_coefficients']['data']
00075   cam_info.R = calib_data['rectification_matrix']['data']
00076   cam_info.P = calib_data['projection_matrix']['data']
00077   cam_info.distortion_model = calib_data['distortion_model']
00078   return pair[0], cam_info
00079 
00080 if __name__ == "__main__":
00081   parser = argparse.ArgumentParser(description='Change camera info messages in a bagfile.')
00082   parser.add_argument('inbag', help='input bagfile')
00083   parser.add_argument('outbag', help='output bagfile')
00084   parser.add_argument('replacement', type=replacement, nargs='+', help='replacement in form "TOPIC=CAMERA_INFO_FILE", e.g. /stereo/left/camera_info=my_new_info.yaml')
00085   args = parser.parse_args()
00086   replacements = {}
00087   for topic, calib_file in args.replacement:
00088     replacements[topic] = calib_file
00089   try:
00090     change_camera_info(args.inbag, args.outbag, replacements)
00091   except Exception, e:
00092     import traceback
00093     traceback.print_exc()


bag_tools
Author(s): Stephan Wirth , Miquel Massot
autogenerated on Mon Oct 6 2014 07:48:00