├── README.md
├── src
    ├── CMakeLists.txt
    └── getjpg
    │   ├── config
    │       └── default.yml
    │   ├── launch
    │       └── bag2jpg.launch
    │   ├── scripts
    │       └── bag2jpg.py
    │   ├── package.xml
    │   └── CMakeLists.txt
└── LICENSE


/README.md:
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1 | # ros_bag2jpg
2 | Convert camera topic to image file.
3 | 


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/src/CMakeLists.txt:
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1 | /opt/ros/noetic/share/catkin/cmake/toplevel.cmake


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/src/getjpg/config/default.yml:
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1 | image_topic: '/spinnaker_ros_driver_node/cam_fm_01/image_raw'
2 | output_path: '/home/bzeren/Desktop/bag-data-2/'
3 | delay_time: 0.7


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/src/getjpg/launch/bag2jpg.launch:
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1 | <launch>
2 | 
3 |     <node pkg="getjpg" type="bag2jpg.py" name="bag2jpg">
4 |         <rosparam command="load" file="$(find getjpg)/config/default.yml" />
5 |     </node>
6 |     
7 | </launch>


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/LICENSE:
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1 | Copyright 2022 Barış Zeren
2 | 
3 | Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
4 | 
5 | The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
6 | 
7 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
8 | 
9 | 


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/src/getjpg/scripts/bag2jpg.py:
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 1 | #! /usr/bin/env python3
 2 | 
 3 | import cv2
 4 | from cv_bridge import CvBridge
 5 | from sensor_msgs.msg import Image
 6 | import rospy
 7 | import time
 8 | 
 9 | class Main():
10 |     def __init__(self):
11 |         
12 |         self.counter = 0
13 |         self.cv_image = None
14 |         self.bridge = CvBridge()
15 |         rospy.Subscriber(rospy.get_param('~image_topic'), Image, self.callback, queue_size=1)
16 |     
17 |     def callback(self, input_image):
18 | 
19 |         self.cv_image = self.bridge.imgmsg_to_cv2(input_image, desired_encoding="")
20 |     
21 |     def save_image(self):
22 |         
23 |         if self.cv_image is None:
24 |             return
25 |         
26 |         print('-------------------'+str(self.counter))
27 |         cv2.imwrite(rospy.get_param('~output_path')+'data'+str(self.counter).zfill(7)+'.jpg', img=self.cv_image)
28 |         self.counter+=1
29 |         time.sleep(rospy.get_param('~delay_time'))
30 |         self.cv_image = None
31 | 
32 | def main():
33 | 
34 |     rospy.init_node("bag2jpg", anonymous=False)
35 | 
36 |     rospy.loginfo('PLEASE, PLAY SOME BAG FILE')
37 | 
38 |     main_o = Main()
39 |     rate = rospy.Rate(20)
40 |     while not rospy.is_shutdown():
41 |         
42 |         main_o.save_image()
43 |         rate.sleep()
44 | 
45 | if __name__ == '__main__':
46 | 
47 |     main()


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/src/getjpg/package.xml:
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 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>getjpg</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The getjpg package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="bzeren@todo.todo">bzeren</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/getjpg</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
35 |   <!--   <depend>roscpp</depend> -->
36 |   <!--   Note that this is equivalent to the following: -->
37 |   <!--   <build_depend>roscpp</build_depend> -->
38 |   <!--   <exec_depend>roscpp</exec_depend> -->
39 |   <!-- Use build_depend for packages you need at compile time: -->
40 |   <!--   <build_depend>message_generation</build_depend> -->
41 |   <!-- Use build_export_depend for packages you need in order to build against this package: -->
42 |   <!--   <build_export_depend>message_generation</build_export_depend> -->
43 |   <!-- Use buildtool_depend for build tool packages: -->
44 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
45 |   <!-- Use exec_depend for packages you need at runtime: -->
46 |   <!--   <exec_depend>message_runtime</exec_depend> -->
47 |   <!-- Use test_depend for packages you need only for testing: -->
48 |   <!--   <test_depend>gtest</test_depend> -->
49 |   <!-- Use doc_depend for packages you need only for building documentation: -->
50 |   <!--   <doc_depend>doxygen</doc_depend> -->
51 |   <buildtool_depend>catkin</buildtool_depend>
52 |   <build_depend>roscpp</build_depend>
53 |   <build_depend>rospy</build_depend>
54 |   <build_depend>std_msgs</build_depend>
55 |   <build_export_depend>roscpp</build_export_depend>
56 |   <build_export_depend>rospy</build_export_depend>
57 |   <build_export_depend>std_msgs</build_export_depend>
58 |   <exec_depend>roscpp</exec_depend>
59 |   <exec_depend>rospy</exec_depend>
60 |   <exec_depend>std_msgs</exec_depend>
61 | 
62 | 
63 |   <!-- The export tag contains other, unspecified, tags -->
64 |   <export>
65 |     <!-- Other tools can request additional information be placed here -->
66 | 
67 |   </export>
68 | </package>
69 | 


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/src/getjpg/CMakeLists.txt:
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  1 | cmake_minimum_required(VERSION 3.0.2)
  2 | project(getjpg)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED COMPONENTS
 11 |   roscpp
 12 |   rospy
 13 |   std_msgs
 14 | )
 15 | 
 16 | ## System dependencies are found with CMake's conventions
 17 | # find_package(Boost REQUIRED COMPONENTS system)
 18 | 
 19 | 
 20 | ## Uncomment this if the package has a setup.py. This macro ensures
 21 | ## modules and global scripts declared therein get installed
 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 23 | # catkin_python_setup()
 24 | 
 25 | ################################################
 26 | ## Declare ROS messages, services and actions ##
 27 | ################################################
 28 | 
 29 | ## To declare and build messages, services or actions from within this
 30 | ## package, follow these steps:
 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 32 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 33 | ## * In the file package.xml:
 34 | ##   * add a build_depend tag for "message_generation"
 35 | ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
 36 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 37 | ##     but can be declared for certainty nonetheless:
 38 | ##     * add a exec_depend tag for "message_runtime"
 39 | ## * In this file (CMakeLists.txt):
 40 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 41 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 42 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 43 | ##     catkin_package(CATKIN_DEPENDS ...)
 44 | ##   * uncomment the add_*_files sections below as needed
 45 | ##     and list every .msg/.srv/.action file to be processed
 46 | ##   * uncomment the generate_messages entry below
 47 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 48 | 
 49 | ## Generate messages in the 'msg' folder
 50 | # add_message_files(
 51 | #   FILES
 52 | #   Message1.msg
 53 | #   Message2.msg
 54 | # )
 55 | 
 56 | ## Generate services in the 'srv' folder
 57 | # add_service_files(
 58 | #   FILES
 59 | #   Service1.srv
 60 | #   Service2.srv
 61 | # )
 62 | 
 63 | ## Generate actions in the 'action' folder
 64 | # add_action_files(
 65 | #   FILES
 66 | #   Action1.action
 67 | #   Action2.action
 68 | # )
 69 | 
 70 | ## Generate added messages and services with any dependencies listed here
 71 | # generate_messages(
 72 | #   DEPENDENCIES
 73 | #   std_msgs
 74 | # )
 75 | 
 76 | ################################################
 77 | ## Declare ROS dynamic reconfigure parameters ##
 78 | ################################################
 79 | 
 80 | ## To declare and build dynamic reconfigure parameters within this
 81 | ## package, follow these steps:
 82 | ## * In the file package.xml:
 83 | ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
 84 | ## * In this file (CMakeLists.txt):
 85 | ##   * add "dynamic_reconfigure" to
 86 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 87 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 88 | ##     and list every .cfg file to be processed
 89 | 
 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 91 | # generate_dynamic_reconfigure_options(
 92 | #   cfg/DynReconf1.cfg
 93 | #   cfg/DynReconf2.cfg
 94 | # )
 95 | 
 96 | ###################################
 97 | ## catkin specific configuration ##
 98 | ###################################
 99 | ## The catkin_package macro generates cmake config files for your package
100 | ## Declare things to be passed to dependent projects
101 | ## INCLUDE_DIRS: uncomment this if your package contains header files
102 | ## LIBRARIES: libraries you create in this project that dependent projects also need
103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
104 | ## DEPENDS: system dependencies of this project that dependent projects also need
105 | catkin_package(
106 | #  INCLUDE_DIRS include
107 | #  LIBRARIES getjpg
108 | #  CATKIN_DEPENDS roscpp rospy std_msgs
109 | #  DEPENDS system_lib
110 | )
111 | 
112 | ###########
113 | ## Build ##
114 | ###########
115 | 
116 | ## Specify additional locations of header files
117 | ## Your package locations should be listed before other locations
118 | include_directories(
119 | # include
120 |   ${catkin_INCLUDE_DIRS}
121 | )
122 | 
123 | ## Declare a C++ library
124 | # add_library(${PROJECT_NAME}
125 | #   src/${PROJECT_NAME}/getjpg.cpp
126 | # )
127 | 
128 | ## Add cmake target dependencies of the library
129 | ## as an example, code may need to be generated before libraries
130 | ## either from message generation or dynamic reconfigure
131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
132 | 
133 | ## Declare a C++ executable
134 | ## With catkin_make all packages are built within a single CMake context
135 | ## The recommended prefix ensures that target names across packages don't collide
136 | # add_executable(${PROJECT_NAME}_node src/getjpg_node.cpp)
137 | 
138 | ## Rename C++ executable without prefix
139 | ## The above recommended prefix causes long target names, the following renames the
140 | ## target back to the shorter version for ease of user use
141 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
142 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
143 | 
144 | ## Add cmake target dependencies of the executable
145 | ## same as for the library above
146 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
147 | 
148 | ## Specify libraries to link a library or executable target against
149 | # target_link_libraries(${PROJECT_NAME}_node
150 | #   ${catkin_LIBRARIES}
151 | # )
152 | 
153 | #############
154 | ## Install ##
155 | #############
156 | 
157 | # all install targets should use catkin DESTINATION variables
158 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
159 | 
160 | ## Mark executable scripts (Python etc.) for installation
161 | ## in contrast to setup.py, you can choose the destination
162 | # catkin_install_python(PROGRAMS
163 | #   scripts/my_python_script
164 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
165 | # )
166 | 
167 | ## Mark executables for installation
168 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
169 | # install(TARGETS ${PROJECT_NAME}_node
170 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
171 | # )
172 | 
173 | ## Mark libraries for installation
174 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
175 | # install(TARGETS ${PROJECT_NAME}
176 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
177 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
178 | #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
179 | # )
180 | 
181 | ## Mark cpp header files for installation
182 | # install(DIRECTORY include/${PROJECT_NAME}/
183 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
184 | #   FILES_MATCHING PATTERN "*.h"
185 | #   PATTERN ".svn" EXCLUDE
186 | # )
187 | 
188 | ## Mark other files for installation (e.g. launch and bag files, etc.)
189 | # install(FILES
190 | #   # myfile1
191 | #   # myfile2
192 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
193 | # )
194 | 
195 | #############
196 | ## Testing ##
197 | #############
198 | 
199 | ## Add gtest based cpp test target and link libraries
200 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_getjpg.cpp)
201 | # if(TARGET ${PROJECT_NAME}-test)
202 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
203 | # endif()
204 | 
205 | ## Add folders to be run by python nosetests
206 | # catkin_add_nosetests(test)
207 | 


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