FROM osrf/ros:kinetic-desktop-full
RUN sudo apt update && \
    sudo apt install -y ffmpeg

docker build -t ros/kinetic:latest .

docker run -it -v /C/yp/project/realsense2video:/test ros/kinetic:latest

cd ${your project root}
python main.py --data_root /test/data --out_root /test/save --fps 25

param data_root:包含bag的文件夾
param out_root:輸出目錄
param fps:每秒的幀數(shù)

# -*- coding: utf-8 -*-
 
#!/usr/bin/env python2
 
import roslib
#roslib.load_manifest('rosbag')
import rospy
import rosbag
import sys, getopt
import os
from sensor_msgs.msg import CompressedImage  #壓縮圖片
from sensor_msgs.msg import Image
import cv2
 
import numpy as np
 
import shlex, subprocess  #讀取命令行參數(shù)
#subprocess 是一個(gè) python 標(biāo)準(zhǔn)類庫，用于創(chuàng)建進(jìn)程運(yùn)行系統(tǒng)命令，并且可以連接進(jìn)程的輸入輸出和
#錯(cuò)誤管道，獲取它們的返回，使用起來要優(yōu)于 os.system，在這里我們使用這個(gè)庫運(yùn)行 hive 語句并獲取返回結(jié)果。
 
#shlex 是一個(gè) python 標(biāo)準(zhǔn)類庫，使用這個(gè)類我們可以輕松的做出對(duì) linux shell 的詞法分析，在
#這里我們將格式化好的 hive 連接語句用 shlex 切分，配合 subprocess.run 使用。
MJPEG_VIDEO = 1
RAWIMAGE_VIDEO = 2
VIDEO_CONVERTER_TO_USE = "ffmpeg" # or you may want to use "avconv" #視頻轉(zhuǎn)換器
 
def print_help():
    print('rosbag2video.py [--fps 25] [--rate 1] [-o outputfile] [-v] [-s] [-t topic] bagfile1 [bagfile2] ...')
    print()
    print('Converts image sequence(s) in ros bag file(s) to video file(s) with fixed frame rate using',VIDEO_CONVERTER_TO_USE)
    print(VIDEO_CONVERTER_TO_USE,'needs to be installed!')
    print()
    print('--fps   Sets FPS value that is passed to',VIDEO_CONVERTER_TO_USE)
    print('        Default is 25.')
    print('-h      Displays this help.')
    print('--ofile (-o) sets output file name.')
    print('        If no output file name (-o) is given the filename \'<prefix><topic>.mp4\' is used and default output codec is h264.')
    print('        Multiple image topics are supported only when -o option is _not_ used.')
    print('        ',VIDEO_CONVERTER_TO_USE,' will guess the format according to given extension.')
    print('        Compressed and raw image messages are supported with mono8 and bgr8/rgb8/bggr8/rggb8 formats.')
    print('--rate  (-r) You may slow down or speed up the video.')
    print('        Default is 1.0, that keeps the original speed.')
    print('-s      Shows each and every image extracted from the rosbag file (cv_bride is needed).')
    print('--topic (-t) Only the images from topic "topic" are used for the video output.')
    print('-v      Verbose messages are displayed.')
    print('--prefix (-p) set a output file name prefix othervise \'bagfile1\' is used (if -o is not set).')
    print('--start Optional start time in seconds.')
    print('--end   Optional end time in seconds.')
class RosVideoWriter():
    def __init__(self, fps=25.0, rate=1.0, topic="", output_filename ="", display= False, verbose = False, start = rospy.Time(0), end = rospy.Time(sys.maxsize)):
        self.opt_topic = topic
        self.opt_out_file = output_filename
        self.opt_verbose = verbose
        self.opt_display_images = display
        self.opt_start = start
        self.opt_end = end
        self.rate = rate
        self.fps = fps
        self.opt_prefix= None
        self.t_first={}
        self.t_file={}
        self.t_video={}
        self.p_avconv = {}
        
    #語法分析Args
    def parseArgs(self, args):
        opts, opt_files = getopt.getopt(args,"hsvr:o:t:p:",["fps=","rate=","ofile=","topic=","start=","end=","prefix="])
        #getopt()
        for opt, arg in opts:
            if opt == '-h':
                print_help()
                sys.exit(0)
            elif opt == '-s':
                self.opt_display_images = True
            elif opt == '-v':
                self.opt_verbose = True
            elif opt in ("--fps"):
                self.fps = float(arg)
            elif opt in ("-r", "--rate"):
                self.rate = float(arg)
            elif opt in ("-o", "--ofile"):
                self.opt_out_file = arg
            elif opt in ("-t", "--topic"):
                self.opt_topic = arg
            elif opt in ("-p", "--prefix"):
                self.opt_prefix = arg
            elif opt in ("--start"):
                self.opt_start = rospy.Time(int(arg))
                if(self.opt_verbose):
                    print("starting at",self.opt_start.to_sec())
            elif opt in ("--end"):
                self.opt_end = rospy.Time(int(arg))
                if(self.opt_verbose):
                    print("ending at",self.opt_end.to_sec())
            else:
                print("opt:", opt,'arg:', arg)
 
        if (self.fps<=0):
            print("invalid fps", self.fps)
            self.fps = 1
 
        if (self.rate<=0):
            print("invalid rate", self.rate)
            self.rate = 1
 
        if(self.opt_verbose):
            print("using ",self.fps," FPS")
        return opt_files
    # filter messages using type or only the opic we whant from the 'topic' argument
    def filter_image_msgs(self, topic, datatype, md5sum, msg_def, header):
        if(datatype=="sensor_msgs/CompressedImage"):
            if (self.opt_topic != "" and self.opt_topic == topic) or self.opt_topic == "":
                print("############# COMPRESSED IMAGE  ######################")
                print(topic,' with datatype:', str(datatype))
                print()
                return True;
 
        if(datatype=="theora_image_transport/Packet"):
            if (self.opt_topic != "" and self.opt_topic == topic) or self.opt_topic == "":
                print(topic,' with datatype:', str(datatype))
                print('!!! theora is not supported, sorry !!!')
                return False;
 
        if(datatype=="sensor_msgs/Image"):
            if (self.opt_topic != "" and self.opt_topic == topic) or self.opt_topic == "":
                print("############# UNCOMPRESSED IMAGE ######################")
                print(topic,' with datatype:', str(datatype))
                print()
                return True;
 
        return False;
    def write_output_video(self, msg, topic, t, video_fmt, pix_fmt = ""):
        # no data in this topic
        if len(msg.data) == 0 :
            return
        # initiate data for this topic
        if not topic in self.t_first :
            self.t_first[topic] = t # timestamp of first image for this topic
            self.t_video[topic] = 0
            self.t_file[topic] = 0
        # if multiple streams of images will start at different times the resulting video files will not be in sync
        # current offset time we are in the bag file
        self.t_file[topic] = (t-self.t_first[topic]).to_sec()
        # fill video file up with images until we reache the current offset from the beginning of the bag file
        while self.t_video[topic] < self.t_file[topic]/self.rate :
            if not topic in self.p_avconv:
                # we have to start a new process for this topic
                if self.opt_verbose :
                    print("Initializing pipe for topic", topic, "at time", t.to_sec())
                if self.opt_out_file=="":
                    out_file = self.opt_prefix + str(topic).replace("/", "_")+".mp4"
                else:
                    out_file = self.opt_out_file
 
                if self.opt_verbose :
                    print("Using output file ", out_file, " for topic ", topic, ".")
 
                if video_fmt == MJPEG_VIDEO :
                    cmd = [VIDEO_CONVERTER_TO_USE, '-v', '1', '-stats', '-r',str(self.fps),'-c','mjpeg','-f','mjpeg','-i','-','-an',out_file]
                    self.p_avconv[topic] = subprocess.Popen(cmd, stdin=subprocess.PIPE)
                    if self.opt_verbose :
                        print("Using command line:")
                        print(cmd)
                elif video_fmt == RAWIMAGE_VIDEO :
                    size = str(msg.width)+"x"+str(msg.height)
                    cmd = [VIDEO_CONVERTER_TO_USE, '-v', '1', '-stats','-r',str(self.fps),'-f','rawvideo','-s',size,'-pix_fmt', pix_fmt,'-i','-','-an',out_file]
                    self.p_avconv[topic] = subprocess.Popen(cmd, stdin=subprocess.PIPE)
                    if self.opt_verbose :
                        print("Using command line:")
                        print(cmd)
 
                else :
                    print("Script error, unknown value for argument video_fmt in function write_output_video.")
                    exit(1)
            # send data to ffmpeg process pipe
            self.p_avconv[topic].stdin.write(msg.data)
            # next frame time
            self.t_video[topic] += 1.0/self.fps
 
    def addBag(self, filename):
        if self.opt_display_images:
            from cv_bridge import CvBridge, CvBridgeError
            bridge = CvBridge()
            cv_image = []
 
        if self.opt_verbose :
            print("Bagfile: {}".format(filename))
 
        if not self.opt_prefix:
            # create the output in the same folder and name as the bag file minu '.bag'
            self.opt_prefix = bagfile[:-4]
 
        #Go through the bag file
        bag = rosbag.Bag(filename)
        if self.opt_verbose :
            print("Bag opened.")
        # loop over all topics
        for topic, msg, t in bag.read_messages(connection_filter=self.filter_image_msgs, start_time=self.opt_start, end_time=self.opt_end):
            try:
                if msg.format.find("jpeg")!=-1 :
                    if msg.format.find("8")!=-1 and (msg.format.find("rgb")!=-1 or msg.format.find("bgr")!=-1 or msg.format.find("bgra")!=-1 ):
                        if self.opt_display_images:
                            np_arr = np.fromstring(msg.data, np.uint8)
                            cv_image = cv2.imdecode(np_arr, cv2.CV_LOAD_IMAGE_COLOR)
                        self.write_output_video( msg, topic, t, MJPEG_VIDEO )
                    elif msg.format.find("mono8")!=-1 :
                        if self.opt_display_images:
                            np_arr = np.fromstring(msg.data, np.uint8)
                            cv_image = cv2.imdecode(np_arr, cv2.CV_LOAD_IMAGE_COLOR)
                        self.write_output_video( msg, topic, t, MJPEG_VIDEO )
                    elif msg.format.find("16UC1")!=-1 :
                        if self.opt_display_images:
                            np_arr = np.fromstring(msg.data, np.uint16)
                            cv_image = cv2.imdecode(np_arr, cv2.CV_LOAD_IMAGE_COLOR)
                        self.write_output_video( msg, topic, t, MJPEG_VIDEO )
                    else:
                        print('unsupported jpeg format:', msg.format, '.', topic)
 
            # has no attribute 'format'
            except AttributeError:
                try:
                        pix_fmt=None
                        if msg.encoding.find("mono8")!=-1 or msg.encoding.find("8UC1")!=-1:
                            pix_fmt = "gray"
                            if self.opt_display_images:
                                cv_image = bridge.imgmsg_to_cv2(msg, "bgr8")
 
                        elif msg.encoding.find("bgra")!=-1 :
                            pix_fmt = "bgra"
                            if self.opt_display_images:
                                cv_image = bridge.imgmsg_to_cv2(msg, "bgr8")
 
                        elif msg.encoding.find("bgr8")!=-1 :
                            pix_fmt = "bgr24"
                            if self.opt_display_images:
                                cv_image = bridge.imgmsg_to_cv2(msg, "bgr8")
                        elif msg.encoding.find("bggr8")!=-1 :
                            pix_fmt = "bayer_bggr8"
                            if self.opt_display_images:
                                cv_image = bridge.imgmsg_to_cv2(msg, "bayer_bggr8")
                        elif msg.encoding.find("rggb8")!=-1 :
                            pix_fmt = "bayer_rggb8"
                            if self.opt_display_images:
                                cv_image = bridge.imgmsg_to_cv2(msg, "bayer_rggb8")
                        elif msg.encoding.find("rgb8")!=-1 :
                            pix_fmt = "rgb24"
                            if self.opt_display_images:
                                cv_image = bridge.imgmsg_to_cv2(msg, "bgr8")
                        elif msg.encoding.find("16UC1")!=-1 :
                            pix_fmt = "gray16le"
                        else:
                            print('unsupported encoding:', msg.encoding, topic)
                            #exit(1)
                        if pix_fmt:
                            self.write_output_video( msg, topic, t, RAWIMAGE_VIDEO, pix_fmt )
 
                except AttributeError:
                    # maybe theora packet
                    # theora not supported
                    if self.opt_verbose :
                        print("Could not handle this format. Maybe thoera packet? theora is not supported.")
                    pass
            if self.opt_display_images:
                cv2.imshow(topic, cv_image)
                key=cv2.waitKey(1)
                if key==1048603:
                    exit(1)
        if self.p_avconv == {}:
            print("No image topics found in bag:", filename)
        bag.close()
if __name__ == '__main__':
    #print()
    #print('rosbag2video, by Maximilian Laiacker 2020 and Abel Gabor 2019')
    #print()
 
    if len(sys.argv) < 2:
        print('Please specify ros bag file(s)!')
        print_help()
        sys.exit(1)
    else :
        videowriter = RosVideoWriter()
        try:
            opt_files = videowriter.parseArgs(sys.argv[1:])
        except getopt.GetoptError:
            print_help()
            sys.exit(2)
    # loop over all files
    for files in range(0,len(opt_files)):
        #First arg is the bag to look at
        bagfile = opt_files[files]
        videowriter.addBag(bagfile)
    print("finished")

import glob
import sys
import glob
import os
import argparse

def mkdir(path):
    if not os.path.exists(path):
        os.mkdir(path)
if __name__ == "__main__":
    parser = argparse.ArgumentParser(
        description='''This is a code for bag2video.''')
    parser.add_argument('--data_root', type=str, default=r'/test/data', help='path to the root of data')
    parser.add_argument('--out_root', type=str, default=r'/test/save', help='path to the root of data')
    parser.add_argument('--fps', type=int, default=25, help='path to the root of data')
    args = parser.parse_args()

    mkdir(args.out_root)
    bagList = glob.glob(os.path.join(args.data_root, "*.bag"))
    for bagPath in bagList:
        baseName = os.path.basename(bagPath).split(".")[0]
        outPath = os.path.join(args.out_root, baseName + ".mp4")
        os.system("python bag2video.py -o {outName} --fps {fps} {bagPath}".format(outName=outPath, fps=args.fps, bagPath=bagPath))