record message parse helper function. It needs to be used in combination with cyber_record
First read the record file through cyber_record, then record_msg provides 3 interfaces to help parsing cyber record file.
you can use to_csv to format objects so that they can be easily saved in csv format.
import csv
from record_msg.parser import to_csv
f = open("message.csv", 'w')
writer = csv.writer(f)
def parse_pose(pose):
'''
save pose to csv file
'''
line = to_csv([pose.header.timestamp_sec, pose.pose])
writer.writerow(line)
f.close()you can use ImageParser to parse and save images in output_path.
from record_msg.parser import ImageParser
image_parser = ImageParser(output_path='../test')
for topic, message, t in record.read_messages():
if topic == "/apollo/sensor/camera/front_6mm/image":
image_parser.parse(message)
# or use timestamp as image file name
# image_parser.parse(image, t)you can use PointCloudParser to parse and save pointclouds in output_path.
from record_msg.parser import PointCloudParser
pointcloud_parser = PointCloudParser('../test')
for topic, message, t in record.read_messages():
if topic == "/apollo/sensor/lidar32/compensator/PointCloud2":
pointcloud_parser.parse(message)
# other modes, default is 'ascii'
# pointcloud_parser.parse(message, mode='binary')
# pointcloud_parser.parse(message, mode='binary_compressed')