#!/usr/bin/env python
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PKG = 'rosrecord'
import roslib; roslib.load_manifest(PKG)
import rospy
import rosrecord

import sys
import array
import Image

def int16_str(d):
  return array.array('B', [ min(x,255) for x in d ]).tostring()
  #return array.array('f', [ float(x) for x in d ]).tostring()

def msg2im(msg):
  """ Take an image_msgs::Image and return a PIL image """
  if len(msg.uint8_data.data) == 0 and len(msg.int16_data.data) == 0:
    return None
  else:
    if msg.depth == 'uint8':
      ma = msg.uint8_data
      image_data = ma.data
    else:
      ma = msg.int16_data
      image_data = int16_str(ma.data)
    dim = dict([ (d.label,d.size) for d in ma.layout.dim ])
    mode = { ('uint8',1) : "L", ('uint8',3) : "RGB", ('int16',1) : "L" }[msg.depth, dim['channel']]
    (w,h) = (dim['width'], dim['height'])
    return Image.fromstring(mode, (w,h), image_data)

counter = 0
for topic, msg, t in rosrecord.logplayer(sys.argv[1]):
  if rospy.is_shutdown():
    break
  if topic.endswith("stereo/raw_stereo"):
    for (mi,c) in [ (msg.left_image, 'L'), (msg.right_image, 'R'), (msg.disparity_image, 'D')]:
      im = msg2im(mi)
      if im:
        ext = { 'L':'png', 'RGB':'png', 'F':'tiff' }[im.mode]
        im.save("%06d%s.%s" % (counter, c, ext))
    counter += 1
