Script to convert a video to a ros bag

ros/angel_utils/scripts/convert_video_to_ros_bag.py

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+import os 
+import time
+import sys
+import cv2
+import datetime
+#import roslib
+import rospy
+#roslib.load_manifest('sensor_msgs')
+
+from ros import rosbag
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+
+video_fn = "/data/PTG/medical/bbn_data/M2_Lab_data/skills_by_frame/tq_10/20230412_123220_HoloLens.mp4"
+bag_fn = "rosbag2_tq_10.db3"
+def convert_video_to_bag(video_fn, bag_fn, topic="PVFramesBGR"):
+    bag = rosbag.Bag(bag_fn, 'w')
+    cb = CvBridge()
+
+    # Read video
+    cam = cv2.VideoCapture(video_fn)
+
+    prop_fps = cam.get(cv2.CAP_PROP_FPS)
+    if prop_fps != prop_fps or prop_fps <= 1e-2:
+        print("Warning: can't get FPS. Assuming 24")
+        prop_fps = 24
+
+    ret = True
+    frame_id = 0
+    start_ts = rospy.Time.now()
+    while(True):
+        ret, frame = cam.read()
+        if not ret:
+            break
+
+        #stamp = rospy.rostime.Time.from_sec(float(frame_id) / prop_fps)
+        frame_ms = cam.get(cv2.CAP_PROP_POS_MSEC)
+        frame_ts = start_ts + rospy.Duration(seconds=frame_ms/1000)
+        print(frame_ts)
+        frame_id += 1
+
+        image = cb.cv2_to_compressed_imgmsg(frame)
+        image.header.stamp = stamp
+        image.header.frame_id = topic
+        bag.write(topic, image, stamp)
+
+    cap.release()
+    bag.close()