读ros.bag，存为图片

酸菜包子

于 2019-04-11 18:18:35 发布

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本文链接：https://blog.youkuaiyun.com/weixin_38378417/article/details/89217041

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本文介绍了一种使用ROS和OpenCV进行图像颜色处理与分割的方法。通过读取特定的ROS bag文件，将图像数据转换为BGR格式，并保存为bmp文件。首先处理颜色图像，然后对图像分割进行匹配处理，确保了图像颜色与分割的一致性。

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import rosbag
import os,sys
import cv2
from cv_bridge import CvBridge
color_t=[]
rbag = rosbag.Bag('./image_segment_rgb.bag')
count_color=0
count_segmentation=0
for topic,msg,t in rbag.read_messages():

        #print "------------topic\n",topic
        #print "----------msg\n",msg
        #print "-------------t\n",t
        if 'image_color' in topic:
        	bridge = CvBridge()
        	cv_img = bridge.imgmsg_to_cv2(msg, 'bgr8')
        	cv2.imwrite("./image_color/{}.bmp".format(t), cv_img)
                color_t.append(t)
                print len(set(color_t))
print "--------------ok--------------------------"

for topic,msg,t in rbag.read_messages():
        if 'image_segmentation' in topic and t in color_t :
        	bridge = CvBridge()
        	cv_img = bridge.imgmsg_to_cv2(msg, 'bgr8')
        	cv2.imwrite("./image_segmentation/{}.bmp".format(t), cv_img)
rbag.close()