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only write valid images in rosbag extraction process #2

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only write valid images in rosbag extraction process #2

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20 changes: 11 additions & 9 deletions utils/BagExtractor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,13 +68,9 @@ def extract_calibration_bag(bag_path, output_path, image_topic):
output_bag_path = output_path + PrivateGlobalValue.rosbag_name[current_step] + ".bag"
bags.append(output_bag_path)
output_bag = rosbag.Bag(output_bag_path, 'w')
else :
for i in range(4): # we write all image
write_image = images[i]
# change image to rosbag
camera_msg = bridge.cv2_to_imgmsg(write_image, encoding="bgr8")
camera_msg.header = msg.header
output_bag.write(PrivateGlobalValue.camera_topics[i], camera_msg, t)
else : # only write valid images
for i in {5: [3, 0], 6: [0, 1], 7: [1, 2], 8: [2, 3]}.get(current_step, [current_step - 1]):
write_image_to_bag(i, images, bridge, msg, output_bag, t)
#collect data
if current_step >=5:
depth_stereo_bag.write(topic, msg, t)
Expand All @@ -86,7 +82,13 @@ def extract_calibration_bag(bag_path, output_path, image_topic):
output_bag.close()
depth_stereo_bag.close()
return bags


def write_image_to_bag(i, images, bridge, msg, output_bag, t):
write_image = images[i]
# change image to rosbag
camera_msg = bridge.cv2_to_imgmsg(write_image, encoding="bgr8")
camera_msg.header = msg.header
output_bag.write(PrivateGlobalValue.camera_topics[i], camera_msg, t)

def jump_sample_bag(input_bag, step, topics ,output_bag_path, start_time = 0):
sample = 0
Expand Down Expand Up @@ -165,4 +167,4 @@ def extract_individual_calibration_bag(bag_path, original_topics, extract_topics
ouput_bag.close()
bag.close()
print("Extracted bag saved to: ", output_path)