from rosbag import Bag
from cv_bridge import CvBridge
from cv2 import imwrite
import numpy as np
import time
import cv2
# import libtiff

# import cv2.cv as cv

cv_bridge = CvBridge()

bag = Bag('/home/daniela/bagfiles/hpe.bag')

# topics /camera_2/rgb/image_raw/compressed /camera_3/rgb/image_raw/compressed /camera_4/rgb/image_raw/compressed

topic_rgb = '/camera_3/rgb/camera_info'
for topic_rgb, msg, t in bag.read_messages(topics=[topic_rgb]):
    # print(msg)
    camera_info_K = np.array(msg.K).reshape([3, 3])
    camera_info_D = np.array(msg.D)
    print(camera_info_K, camera_info_D)
# camera_info=bag.read_messages(topics=[topic_rgb])
# camera_info_K = np.array(camera_info.K).reshape([3, 3])
# camera_info_D = np.array(camera_info.D)
# print(msg)
# np_arr = np.frombuffer(msg.data, np.uint8)

# topic_rgb = '/camera_3/rgb/camera_info'
#
#
# topic_rgb = '/camera_4/rgb/camera_info'