Added script to extract images from rosbag

docs/source/jetson/scripts/jetson_image_extractor.py

@@ -0,0 +1,59 @@
+#/usr/bin/env python
+
+import os
+import cv2
+import sys
+import rosbag
+import numpy as np
+from cv_bridge import CvBridge
+
+def extractor(bagname):
+    root_dir = "./%s" % bagname.split('.bag')[0]
+    left_dir = "%s/left" % root_dir
+    right_dir = "%s/right" % root_dir
+    depth_dir = "%s/depth" % root_dir
+
+    if not (os.path.exists(root_dir)):
+        os.makedirs("%s" % left_dir)
+        os.makedirs("%s" % right_dir)
+        os.makedirs("%s" % depth_dir)
+
+    bridge = CvBridge()
+    bag = rosbag.Bag(bagname)
+    print "Saving left images to %s" % left_dir
+    k = 0
+    for topic, msg, t in bag.read_messages(topics=['/zed/left/image_raw_color']): 
+        cv_img = bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")
+        img = np.array(cv_img)
+        cv2.imwrite("%s/%d.jpg" % (left_dir, k), img)
+        k += 1
+
+    print "Done!\nSaved %d left color images in total" % k
+
+    k = 0
+    for topic, msg, t in bag.read_messages(topics=['/zed/right/image_raw_color']): 
+        cv_img = bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")
+        img = np.array(cv_img)
+        cv2.imwrite("%s/%d.jpg" % (right_dir, k), img)
+        k += 1
+
+    print "Done!\nSaved %d right color images in total" % k
+
+    print "Saving depth images to %s" % depth_dir
+    k = 0
+    for topic, msg, t in bag.read_messages(topics=['/zed/depth/depth_registered']):
+        cv_img = bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")
+        img = np.array(cv_img)
+        cv2.imwrite("%s/%d.jpg" % (depth_dir, k), img)
+        k = k+1
+
+    print "Done\nSaved %d depth images in total" % k
+
+
+
+if __name__ == "__main__":
+    if (len(sys.argv) < 2):
+        print "Usage: python image_extractor.py <bag-filename>\n"
+        exit()
+
+    extractor(sys.argv[1])