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356757a 404e2b5 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 | # Copyright 2025 Robotics Group of the University of León (ULE)
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import rosbag2_py
import cv2
import os
import glob
from cv_bridge import CvBridge
from rclpy.serialization import deserialize_message
from sensor_msgs.msg import Image
import time
bags_dir = "/media/robotica/681EC1401EC107D0/Salidas/SalidaBercianos2"
output_root = os.path.join(bags_dir, "dataset")
image_topic = "/camera/camera/color/image_raw"
FRAME_INTERVAL = 10
MAX_WORKERS = 2
MAX_BATCH_SIZE = 5
os.makedirs(output_root, exist_ok=True)
print(f"Output directory: {output_root} (exists: {os.path.exists(output_root)})")
def extract_images_from_bag(bag_path, output_dir):
"""Extract images from a ROS2 bag file.
Args:
bag_path: Path to the ROS2 bag directory.
output_dir: Directory where extracted images will be saved.
Returns:
Number of images successfully saved.
"""
bridge = CvBridge()
saved_frame_count = 0
total_frame_count = 0
bag_name = os.path.basename(bag_path)
print(f"Processing rosbag: {bag_name}, saving with prefix to: {output_dir}")
try:
reader = rosbag2_py.SequentialReader()
reader.open(
rosbag2_py.StorageOptions(uri=bag_path, storage_id="sqlite3"),
rosbag2_py.ConverterOptions(
input_serialization_format="cdr", output_serialization_format="cdr"
),
)
topic_types = reader.get_all_topics_and_types()
topic_type_map = {topic.name: topic.type for topic in topic_types}
print(f"Available topics in {bag_name}: {list(topic_type_map.keys())}")
if image_topic not in topic_type_map:
print(f"ERROR: Topic {image_topic} does not exist in {bag_name}.")
return 0
print(f"Processing topic {image_topic} in {bag_name}")
is_depth = "depth" in image_topic
start_time = time.time()
while reader.has_next():
topic, data, timestamp = reader.read_next()
if topic == image_topic:
total_frame_count += 1
if (total_frame_count - 1) % FRAME_INTERVAL == 0:
try:
img_msg = deserialize_message(data, Image)
if is_depth:
cv_image = bridge.imgmsg_to_cv2(img_msg)
cv_image = cv2.normalize(cv_image, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U)
cv_image = cv2.applyColorMap(cv_image, cv2.COLORMAP_TURBO)
else:
cv_image = bridge.imgmsg_to_cv2(img_msg, desired_encoding="bgr8")
frame_filename = f"{bag_name}_frame_{saved_frame_count:06d}.jpg"
frame_path = os.path.join(output_dir, frame_filename)
success = cv2.imwrite(frame_path, cv_image, [cv2.IMWRITE_JPEG_QUALITY, 85])
if not success:
print(f"Error: Could not save {frame_path}")
else:
saved_frame_count += 1
if saved_frame_count % 5 == 0:
print(f"Saved {frame_path} ({cv_image.shape})")
except Exception as e:
print(f"Error in frame {total_frame_count}: {str(e)}")
if total_frame_count % 100 == 0:
elapsed = time.time() - start_time
print(f"{bag_name}: Processed {total_frame_count} frames, saved {saved_frame_count}")
elapsed = time.time() - start_time
rate = saved_frame_count / elapsed if elapsed > 0 else 0
print(f"Completed {bag_name}: {saved_frame_count} images saved from {total_frame_count} frames")
print(f"Speed: {rate:.2f} img/s, total time: {elapsed:.2f}s")
return saved_frame_count
except Exception as e:
print(f"Fatal error processing {bag_name}: {str(e)}")
import traceback
traceback.print_exc()
return 0
def main():
"""Main function to extract images from ROS2 bag files.
Processes all rosbag2 directories found in the specified bags directory,
extracting one frame every FRAME_INTERVAL frames from the configured image topic.
"""
print(f"Starting image extraction (1 every {FRAME_INTERVAL} frames)")
bag_folders = glob.glob(os.path.join(bags_dir, "rosbag2_*"))
print(f"Found {len(bag_folders)} rosbags: {[os.path.basename(b) for b in bag_folders]}")
if not bag_folders:
print(f"ERROR: No rosbags found in {bags_dir}")
return
total_frames = 0
start_time = time.time()
for bag_folder in bag_folders:
if os.path.isdir(bag_folder) and os.path.exists(os.path.join(bag_folder, "metadata.yaml")):
print(f"\nProcessing {os.path.basename(bag_folder)}...")
frames = extract_images_from_bag(bag_folder, output_root)
total_frames += frames
elapsed = time.time() - start_time
rate = total_frames / elapsed if elapsed > 0 else 0
print(f"\nProcess completed. {total_frames} images extracted in {elapsed:.2f}s")
print(f"Average speed: {rate:.2f} img/s")
print(f"All images are in: {output_root}")
if __name__ == "__main__":
main() |