Go to the documentation of this file.00001
00002 import rosbag
00003 from tf.msg import tfMessage
00004 with rosbag.Bag('rgbd_dataset_freiburg3_long_office_household_tf_renamed.bag', 'w') as outbag:
00005 for topic, msg, t in rosbag.Bag('rgbd_dataset_freiburg3_long_office_household.bag').read_messages():
00006 if topic == "/tf" and msg.transforms:
00007 newList = [];
00008 for m in msg.transforms:
00009 if m.child_frame_id != "/kinect":
00010 newList.append(m)
00011 else:
00012 m.child_frame_id = "/kinect_gt"
00013 newList.append(m)
00014 print 'kinect frame renamed!'
00015 if len(newList)>0:
00016 msg.transforms = newList
00017 outbag.write(topic, msg, t)
00018 else:
00019 outbag.write(topic, msg, t)