first commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+project(BagFromImages)
+
+rosbuild_init()
+
+FIND_PACKAGE(OpenCV REQUIRED)
+
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+
+rosbuild_add_executable(${PROJECT_NAME}
+main.cc
+Thirdparty/DLib/FileFunctions.cpp)
+
+target_link_libraries (${PROJECT_NAME}
+${OpenCV_LIBS})

Thirdparty/DLib/FileFunctions.cpp

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+/*
+ * File: FileFunctions.cpp
+ * Author: Dorian Galvez-Lopez
+ * Date: June 2009
+ * Description: file system functions
+ * License: see the LICENSE.txt file
+ *
+ */
+
+#include "FileFunctions.h"
+#include <vector>
+#include <string>
+#include <fstream>
+#include <cstdio>
+#include <algorithm>
+#include <dirent.h>
+#include <sys/stat.h>
+#include <unistd.h>
+#define mkdir(a) mkdir(a, 0755)
+
+
+using namespace std;
+using namespace DUtils;
+
+void FileFunctions::MkDir(const char *path)
+{
+	mkdir(path);
+}
+
+void FileFunctions::RmDir(const char *path)
+{
+	// empty path
+	vector<string> files = FileFunctions::Dir(path, "");
+	for(vector<string>::iterator it = files.begin(); it != files.end(); it++){
+		remove(it->c_str());
+	}
+	rmdir(path);
+}
+
+void FileFunctions::RmFile(const char *path)
+{
+	remove(path);
+}
+
+bool FileFunctions::FileExists(const char *filename)
+{
+	std::fstream f(filename, ios::in);
+
+	if(f.is_open()){
+		f.close();
+		return true;
+	}else
+		return false;
+}
+
+bool FileFunctions::DirExists(const char *path)
+{
+    DIR *dirp;
+	if((dirp = opendir(path)) != NULL){
+		closedir(dirp);
+		return true;
+	}else
+		return false;
+}
+
+std::vector<std::string> FileFunctions::Dir(const char *path, const char *right,
+  bool sorted)
+{
+	DIR *dirp;
+	struct dirent *entry;
+	vector<string> ret;
+
+	if((dirp = opendir(path)) != NULL){
+		while((entry = readdir(dirp)) != NULL){
+			string name(entry->d_name);
+			string r(right);
+			if((name.length() >= r.length()) && 
+				(name.substr(name.length() - r.length()).compare(r) == 0))
+			{
+				ret.push_back(string(path) + "/" + entry->d_name);
+			}
+		}
+		closedir(dirp);
+	}
+
+	if(sorted) sort(ret.begin(), ret.end());
+
+	return ret;
+}
+std::string FileFunctions::FileName(const std::string filepath)
+{
+	string::size_type p = filepath.find_last_of('/');
+	string::size_type p2 = filepath.find_last_of('\\');
+	if(p2 != string::npos && p2 > p) p = p2;
+	return filepath.substr(p+1);
+}
+
+void FileFunctions::FileParts(const std::string filepath, std::string &path,
+						   std::string &filename, std::string &ext)
+{
+	string::size_type p = filepath.find_last_of('/');
+	string::size_type p2 = filepath.find_last_of('\\');
+	if(p == string::npos || (p2 != string::npos && p2 > p)) p = p2;
+
+	std::string filext;
+
+	if(p == string::npos){
+		path = "";
+		filext = filepath;
+	}else{
+		path = filepath.substr(0, p);
+		filext = filepath.substr(p+1);
+	}
+
+	p = filext.find_last_of('.');
+	if(p == string::npos){
+		filename = filext;
+		ext = "";
+	}else{
+		filename = filext.substr(0, p);
+		ext = filext.substr(p+1);
+	}
+}
+

Thirdparty/DLib/FileFunctions.h

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+/*
+ * File: FileFunctions.h
+ * Author: Dorian Galvez-Lopez
+ * Date: June 2009
+ * Description: file system functions
+ * License: see the LICENSE.txt file
+ *
+ */
+
+#ifndef __D_FILE_FUNCTIONS__
+#define __D_FILE_FUNCTIONS__
+
+#pragma once
+
+#include <vector>
+#include <string>
+
+namespace DUtils {
+
+/// General functions to manipulate directories and files
+class FileFunctions
+{
+public:
+
+	/**
+	 * Creates the directory 'path'. The parent directory must exist
+	 * @param path
+	 */
+	static void MkDir(const char *path);
+
+	/**
+	 * Removes a directory and its content
+	 * @param path
+	 */
+	static void RmDir(const char *path);
+
+	/**
+	 * Removes a file 
+	 * @param path
+	 */
+	static void RmFile(const char *path);
+
+	/**
+	 * Checks the existence of a folder
+	 * @return true iff the directory exists
+	 */
+	static bool DirExists(const char *path);
+
+	/**
+	 * Checks the existence of a file
+	 * @returns true iff the file exists
+	 */
+	static bool FileExists(const char *filename);
+
+	/**
+	 * Returns the relative path of the files located in the path given and 
+	 * whose right path of the name matches 'right'
+	 * @param path: path to directory
+	 * @param right: string like "_L.png"
+	 * @param sorted: if true, the files are sorted alphabetically
+	 * @return path list
+	 */
+	static std::vector<std::string> Dir(const char *path, const char *right,
+	  bool sorted = false);
+
+	/**
+	 * Extracts the filename of the given path
+	 * @param filepath path
+	 * @return file name
+	 */
+	static std::string FileName(const std::string filepath);
+
+	/**
+	 * Extracts the path, file name and extension of the given path
+	 * @param filepath
+	 * @param path (out): path to file
+	 * @param filename (out): filename without extension or dot
+	 * @param ext (out): extension without dot
+	 */
+	static void FileParts(const std::string filepath, std::string &path, 
+		std::string &filename, std::string &ext);
+
+};
+
+}
+
+#endif

Thirdparty/DLib/LICENSE.txt

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+Copyright (c) 2015 Dorian Galvez-Lopez. http://doriangalvez.com
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in the
+   documentation and/or other materials provided with the distribution.
+3. The original author of the work must be notified of any 
+   redistribution of source code or in binary form.
+4. Neither the name of copyright holders nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+''AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL COPYRIGHT HOLDERS OR CONTRIBUTORS
+BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+
+- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+
+This software includes the dirent API for Microsoft Visual Studio, by
+Toni Ronkko, and has its own license, reproduced below:
+
+/*****************************************************************************
+ * dirent.h - dirent API for Microsoft Visual Studio
+ *
+ * Copyright (C) 2006 Toni Ronkko
+ *
+ * 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:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * 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 TONI RONKKO 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.
+ *****************************************************************************/

main.cc

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+#include<iostream>
+#include<ros/ros.h>
+#include<rosbag/bag.h>
+#include<rosbag/view.h>
+#include<sensor_msgs/Image.h>
+#include<std_msgs/Time.h>
+#include<std_msgs/Header.h>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <sensor_msgs/image_encodings.h>
+
+#include "Thirdparty/DLib/FileFunctions.h"
+
+
+using namespace std;
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "BagFromImages");
+
+    if(argc!=5)
+    {
+        cerr << "Usage: rosrun BagFromImages BagFromImages <path to image directory> <image extension .ext> <frequency> <path to output bag>" << endl;
+        return 0;
+    }
+
+    ros::start();
+
+    // Vector of paths to image
+    vector<string> filenames =
+            DUtils::FileFunctions::Dir(argv[1], argv[2], true);
+
+    cout << "Images: " << filenames.size() << endl;
+
+    // Frequency
+    double freq = atof(argv[3]);
+
+    // Output bag
+    rosbag::Bag bag_out(argv[4],rosbag::bagmode::Write);
+
+    ros::Time t = ros::Time::now();
+
+    const float T=1.0f/freq;
+    ros::Duration d(T);
+
+    for(size_t i=0;i<filenames.size();i++)
+    {
+        if(!ros::ok())
+            break;
+
+        cv::Mat im = cv::imread(filenames[i],CV_LOAD_IMAGE_COLOR);
+        cv_bridge::CvImage cvImage;
+        cvImage.image = im;
+        cvImage.encoding = sensor_msgs::image_encodings::RGB8;
+        cvImage.header.stamp = t;
+        bag_out.write("/camera/image_raw",ros::Time(t),cvImage.toImageMsg());
+        t+=d;
+        cout << i << " / " << filenames.size() << endl;
+    }
+
+    bag_out.close();
+
+    ros::shutdown();
+
+    return 0;
+}

manifest.xml

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+<package>
+  <description brief="BagFromImages">
+
+     BagFromImages
+
+  </description>
+  <author>Raul Mur-Artal</author>
+  <depend package="roscpp"/>
+  <depend package="sensor_msgs"/>
+  <depend package="std_msgs"/>
+  <depend package="rosbag"/>
+  <depend package="cv_bridge"/>
+  <depend package="image_transport"/>
+</package>
+
+