# Script based on this post:
#   https://stackoverflow.com/questions/76537425/how-to-export-image-and-video-data-from-a-bag-file-in-ros2
# Arnoud - Nov 2024 - Adjusted to work in the current diretory based on rae-topic.

from rosbags.highlevel import AnyReader
from pathlib import Path
import cv2
from rosbags.image import message_to_cvimage
count = 0
with AnyReader([Path('.')]) as reader:
    # topic and msgtype information is available on .connections list
    for connection in reader.connections:
        print(connection.topic, connection.msgtype)
    for connection, timestamp, rawdata in reader.messages():
        if connection.topic == '/rae/right/image_raw/compressed': # topic Name of images
            msg = reader.deserialize(rawdata, connection.msgtype)
            img = message_to_cvimage(msg, 'bgr8') # change encoding type if needed
            cv2.imwrite("images/frame%06i.jpg" % count, img)
            count += 1