如何将bag文件批量转成mp4

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的文件夹 param out_root:输出目录 param fps:每秒的帧数

# -*- 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  #压缩图片 from sensor_msgs.msg import Image import cv2 import numpy as np import shlex, subprocess  #读取命令行参数 #subprocess 是一个 python 标准类库，用于创建进程运行系统命令，并且可以连接进程的输入输出和 #错误管道，获取它们的返回，使用起来要优于 os.system，在这里我们使用这个库运行 hive 语句并获取返回结果。 #shlex 是一个 python 标准类库，使用这个类我们可以轻松的做出对 linux shell 的词法分析，在 #这里我们将格式化好的 hive 连接语句用 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" #视频转换器 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 \'.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 = {} #语法分析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] 

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))