test_prior_rename_kinect_bag_tf.py

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#!/usr/bin/env python 
import rosbag
from tf.msg import tfMessage
with rosbag.Bag('rgbd_dataset_freiburg3_long_office_household_tf_renamed.bag', 'w') as outbag:
        for topic, msg, t in rosbag.Bag('rgbd_dataset_freiburg3_long_office_household.bag').read_messages():
                if topic == "/tf" and msg.transforms:
                        newList = [];
                        for m in msg.transforms:
                                if m.child_frame_id != "/kinect":
                                        newList.append(m)
                                else:
                                        m.child_frame_id = "/kinect_gt"
                                        newList.append(m)
                                        print 'kinect frame renamed!'
                        if len(newList)>0:
                                msg.transforms = newList
                                outbag.write(topic, msg, t)
                else:
                        outbag.write(topic, msg, t)