Convert rosbag to video with .avi format, Usage rosbag_to_video.py [ROSBAG.bag] [OUTPUT.avi]

rosbag_to_video.py

#!/usr/bin/env python

import sys
import rospy
import rosbag
import cv2
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError

def save_images_from_rosbag(rosbag_file, topic_name, output_file):
    bag = rosbag.Bag(rosbag_file, 'r')
    bridge = CvBridge()
    fourcc = cv2.VideoWriter_fourcc(*'XVID')
    out = None

    for topic, msg, _ in bag.read_messages(topics=[topic_name]):
        if rospy.is_shutdown():
            break
        try:
            img = bridge.imgmsg_to_cv2(msg, 'bgr8')
        except CvBridgeError as e:
            print(e)
            continue

        if out is None:
            height, width, _ = img.shape
            out = cv2.VideoWriter(output_file, fourcc, 30, (width, height))

        out.write(img)

    out.release()
    bag.close()

if __name__ == '__main__':
    if len(sys.argv) < 4:
        print("Usage: rosbag_to_video.py <rosbag_file> <topic_name> <output_file>")
        sys.exit(1)

    rosbag_file = sys.argv[1]
    topic_name = sys.argv[2]
    output_file = sys.argv[3]

    save_images_from_rosbag(rosbag_file, topic_name, output_file)