apoorva
0c9504b343
git-subtree-dir: rosbags git-subtree-mainline: 48df1fbdf4490f3cbfa3267c998d1a0fc98378ca git-subtree-split: c80625df279c154c6ec069cbac30faa319755e47
44 lines
1.3 KiB
Python
44 lines
1.3 KiB
Python
"""Save multiple images in rosbag2."""
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import numpy
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from rosbags.rosbag2 import Writer
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from rosbags.serde import serialize_cdr
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from rosbags.typesys.types import builtin_interfaces__msg__Time as Time
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from rosbags.typesys.types import sensor_msgs__msg__CompressedImage as CompressedImage
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from rosbags.typesys.types import std_msgs__msg__Header as Header
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TOPIC = '/camera'
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FRAMEID = 'map'
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# Contains filenames and their timestamps
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IMAGES = [
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('homer.jpg', 42),
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('marge.jpg', 43),
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]
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def save_images() -> None:
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"""Iterate over IMAGES and save to output bag."""
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with Writer('output') as writer:
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conn = writer.add_connection(TOPIC, CompressedImage.__msgtype__, 'cdr', '')
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for path, timestamp in IMAGES:
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message = CompressedImage(
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Header(
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stamp=Time(
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sec=int(timestamp // 10**9),
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nanosec=int(timestamp % 10**9),
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),
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frame_id=FRAMEID,
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),
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format='jpeg', # could also be 'png'
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data=numpy.fromfile(path, dtype=numpy.uint8),
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)
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writer.write(
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conn,
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timestamp,
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serialize_cdr(message, message.__msgtype__),
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)
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