extract_stereo.py

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import rosbag
import tf
import sys
from tf.msg import tfMessage
 
if len(sys.argv) < 2:
        print 'Usage: $ python extract_stereo.py "2012-01-25-12-14-25"'
        sys.exit(0)
 
bagName = sys.argv[1]
with rosbag.Bag(bagName + '_stereo.bag', 'w') as outbag:
        print 'Processing ' + bagName + '.bag...'
        leftCamInfoStatus = True
        leftImageStatus = True
        rightCamInfoStatus = True
        rightImageStatus = True
        for topic, msg, t in rosbag.Bag(bagName + '.bag').read_messages():
                if topic == "/tf":
                        outbag.write(topic, msg, t)
                elif topic == "/wide_stereo/left/camera_info":
                        if leftCamInfoStatus:
                                outbag.write(topic, msg, t)
                        leftCamInfoStatus = not leftCamInfoStatus
                elif topic == "/wide_stereo/right/camera_info":
                        if rightCamInfoStatus:
                                outbag.write(topic, msg, t)
                        rightCamInfoStatus = not rightCamInfoStatus
                elif topic == "/wide_stereo/left/image_raw":
                        if leftImageStatus:
                                outbag.write(topic, msg, t)
                        leftImageStatus = not leftImageStatus
                elif topic == "/wide_stereo/right/image_raw":
                        if rightImageStatus:
                                outbag.write(topic, msg, t)
                        rightImageStatus = not rightImageStatus
 
print 'Output: ' + bagName + '_out.bag'