bagsort.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2009, Willow Garage, Inc.
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00007 # Redistribution and use in source and binary forms, with or without
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00011 #  * Redistributions of source code must retain the above copyright
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00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00033 
00034 from __future__ import print_function
00035 
00036 import rospy
00037 import rosbag
00038 
00039 def sortbags(inbag, outbag):
00040     rebag = rosbag.Bag(outbag, 'w')
00041 
00042     try:
00043         schedule = [(t, i) for i, (topic, msg, t) in enumerate(rosbag.Bag(inbag).read_messages(raw=True))]
00044 
00045         schedule = [i for (t, i) in sorted(schedule)]
00046         print(schedule)
00047     
00048         stage = {}
00049         for i, (topic, msg, t) in enumerate(rosbag.Bag(inbag).read_messages(raw=True)):
00050             stage[i] = (topic, msg, t)
00051             while (len(schedule) > 0) and (schedule[0] in stage):
00052                 (topic, msg, t) = stage[schedule[0]]
00053                 rebag.write(topic, msg, t, raw=True)
00054                 del stage[schedule[0]]
00055                 schedule = schedule[1:]
00056 
00057         assert schedule == []
00058         assert stage == {}
00059     finally:
00060         rebag.close()
00061 
00062 if __name__ == '__main__':
00063     import sys
00064     if len(sys.argv) == 3:
00065         sortbags(sys.argv[1], sys.argv[2])
00066     else:
00067         print("usage: bagsort.py <inbag> <outbag>")


rosbag
Author(s): Tim Field, Jeremy Leibs, James Bowman
autogenerated on Fri Aug 28 2015 12:33:52