# tools

**Repository Path**: myboyhood/tools

## Basic Information

- **Project Name**: tools
- **Description**: general tools
1. convert rosbag image topic to imwrite to local disk, for Yolo label.
- **Primary Language**: Python
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-11-10
- **Last Updated**: 2024-12-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# CIUS-rosbag-Tools

This program can convert rosbag (including: img_raw, compressed, depth image) to `.jpg` format

- run example
```bash
$ python rosbag2image_single.py -i /home/zph/hard_disk/rosbag/kalibr_bag/usb-ir-color/usb-ir-color-paper-print-5x6-grid_2023-01-12-16-28-57.bag -o /home/zph/hard_disk/rosbag/kalibr_bag/usb-ir-color/checkboard-5x6-grid -t1_name /ir_image_topic -t1_type jpg -prefix kun0 -step 10 -t_start 1673512138 -t_end 1673512174
```
 - `- i` : input rosbag file path
 - `- o` : output image folder path
 - `- t1_name` : topic name
 - `- t1_type` : image type
 - `- prefix` : image name prefix
 - `- step` : image save step
 - `- t_start` : start time
 - `- t_end` : end time
  
```bash
python rosbag2image_single_with_poses.py -i /home/zph/hard_disk/rosbag/two_uavs_fly_outdoor/paris_env-20240528/v5-best-outdoor-z-line-kun01-camera-front-side-imu-uwb_2024-05-28-17-14-xx.bag  -o /home/zph/hard_disk/rosbag/two_uavs_fly_outdoor/paris_env-20240528/v5-best-paris-env-z-line/images -t1_name /kun1/D455/camera/color/image_raw/compressed -t1_type png -step 1 -t_start 1716887740.000 -t_end 1716887750.0
``` 
 - `- i` : input rosbag file path
 - `- o` : output image folder path
 - `- t1_name` : topic name
 - `- t1_type` : image type
 - `- prefix` : image name prefix
 - `- step` : image save step
 - `- t_start` : start time
 - `- t_end` : end time

- 如果转换深度图
  目前，我电脑的python的cv_bridge有问题，不支持转换深度图，所以要改`depth_img_save.cpp`来转换深度图