This is the script to convert the JHU recored data from rosbag format to video RGB images(.jpg) and kinematics files(.txt).

Install:

ffmpeg is needed and can be installed on Ubuntu with:

sudo apt install ffmpeg

ros and other stuff

sudo apt install python3-roslib python3-sensor-msgs python3-opencv

Usage:

1. Modify the path and name of the source data in 'recieve_data.py':

save_root = {path_to_save_folder}

bag_name = {rosbag_name}

(other setting please refer to the code)

2. Initialize ROS

roscore

3. Run the script

python recieve_data.py

4. Play the rosbag file:

rosbag play {rosbag_name}.bag

Acknowledgement

Code modified from rosbag2video. Thanks for contributions

Citation

  @inproceedings{
  long2021relational,
  title={Relational graph learning on visual and kinematics embeddings for accurate gesture recognition in robotic surgery},
  author={Long, Yonghao and Wu, Jie Ying and Lu, Bo and Jin, Yueming and Unberath, Mathias and Liu, Yun-Hui and Heng, Pheng Ann and Dou, Qi},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={13346--13353},
  year={2021},
  organization={IEEE}
  }