读取ros包中rgb和depth图，python代码

import roslib   #roslib.load_manifest（PKG）
import rosbag
import rospy
import cv2
from sensor_msgs.msg import Image
from cv_bridge import CvBridge
from cv_bridge import CvBridgeError
     
    # Reading bag filename from command line or roslaunch parameter.
    #import os
    #import sys
     
rgb_path= ‘/home/zxt/Documents/data/rgb_png/‘
depth_path= ‘/home/zxt/Documents/data/depth_png/‘ 

class ImageCreator（）:
    def __init__（self）:
        self.bridge = CvBridge（）
        i=0
        j=0
        with rosbag.Bag（‘/home/zxt/Documents/data/2020-11-04-15-37-56.bag‘ ‘r‘） as bag:  
            for topicmsgt in bag.read_messages（）:
                if topic == “/camera/color/image_raw“: 
                        try:
                            cv_image = self.bridge.imgmsg_to_cv2（msg“bgr8“）
                        except CvBridgeError as e:
                            print e