/usr/lib/rosbag/bag2png.py is in python-rosbag 1.13.5+ds1-3.
This file is owned by root:root, with mode 0o755.
The actual contents of the file can be viewed below.
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import sys
import array
import Image
import rospy
import rosbag
def int16_str(d):
return array.array('B', [ min(x, 255) for x in d ]).tostring()
#return array.array('f', [ float(x) for x in d ]).tostring()
def msg2im(msg):
"""Take an sensor_msgs/Image and return a PIL image"""
if len(msg.uint8_data.data) == 0 and len(msg.int16_data.data) == 0:
return None
if msg.depth == 'uint8':
ma, image_data = msg.uint8_data, ma.data
else:
ma, image_data = msg.int16_data, int16_str(ma.data)
dim = dict([(d.label, d.size) for d in ma.layout.dim])
mode = { ('uint8',1) : "L", ('uint8',3) : "RGB", ('int16',1) : "L" }[msg.depth, dim['channel']]
(w, h) = (dim['width'], dim['height'])
return Image.fromstring(mode, (w, h), image_data)
counter = 0
for topic, msg, t in rosbag.Bag(sys.argv[1]).read_messages():
if topic.endswith('stereo/raw_stereo'):
for (mi, c) in [ (msg.left_image, 'L'), (msg.right_image, 'R'), (msg.disparity_image, 'D')]:
im = msg2im(mi)
if im:
ext = { 'L':'png', 'RGB':'png', 'F':'tiff' }[im.mode]
im.save('%06d%s.%s' % (counter, c, ext))
counter += 1
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