Add jsk_rosbag_tools package #1738

iory · 2022-05-31T16:42:35Z

What is this?

Add jsk_rosbag_tools package which tools such as creating video from rosbag and compressing rosbag images.

bag_to_video.py

Create video from rosbag.

Usage

usage: bag_to_video.py [-h] [--out OUT] [--fps FPS] [--samplerate SAMPLERATE] [--channels CHANNELS] [--audio-topic AUDIO_TOPIC] [--image-topic IMAGE_TOPIC [IMAGE_TOPIC ...]] input_bagfile

rosbag to video

positional arguments:
  input_bagfile

optional arguments:
  -h, --help            show this help message and exit
  --out OUT, -o OUT     output directory path or filename.
                        If more than one --image-topic are specified,
                        this will be interpreted as a directory name.
                        Otherwise this is the file name.
  --fps FPS
  --samplerate SAMPLERATE, -r SAMPLERATE
                        sampling rate
  --channels CHANNELS   number of input channels
  --audio-topic AUDIO_TOPIC
  --image-topic IMAGE_TOPIC [IMAGE_TOPIC ...]
                        Topic name to extract.

Example

rosrun jsk_rosbag_tools bag_to_video.py $(rospack find jsk_rosbag_tools)/samples/data/20220530173950_go_to_kitchen_rosbag.bag \
  --samplerate 16000 --channels 1 --audio-topic /audio \
  --image-topic /head_camera/rgb/throttled/image_rect_color/compressed \
  -o /tmp/20220530173950_go_to_kitchen_rosbag.mp4

bag_to_audio.py

Create audio file from rosbag.

Usage

usage: bag_to_audio.py [-h] [--out OUT] [--samplerate SAMPLERATE] [--channels CHANNELS] [--audio-topic AUDIO_TOPIC] input_bagfile

rosbag to audio

positional arguments:
  input_bagfile

optional arguments:
  -h, --help            show this help message and exit
  --out OUT, -o OUT     output filename. If `--audio-topic`_info is exists, you don't have to specify samplerate and channels.
  --samplerate SAMPLERATE, -r SAMPLERATE
                        sampling rate
  --channels CHANNELS   number of input channels
  --audio-topic AUDIO_TOPIC

Example

rosrun jsk_rosbag_tools bag_to_audio.py $(rospack find jsk_rosbag_tools)/samples/data/20220530173950_go_to_kitchen_rosbag.bag \
  --samplerate 16000 --channels 1 --audio-topic /audio \
  -o /tmp/20220530173950_go_to_kitchen_rosbag.wav

video_to_bag.py

Convert video file to bagfile.

Usage

usage: video_to_bag.py [-h] [--out output_file] [--topic-name TOPIC_NAME] [--compress] [--no-progress-bar] inputvideo

Convert video to bag.

positional arguments:
  inputvideo

optional arguments:
  -h, --help            show this help message and exit
  --out output_file, -o output_file
                        name of the output bag file
  --topic-name TOPIC_NAME
                        Converted topic name.
  --compress            Compress Image flag.
  --no-progress-bar     Don't show progress bar.

Example

rosrun jsk_rosbag_tools video_to_bag.py /tmp/output_bag/head_camera--slash--rgb--slash--throttled--slash--image_rect_color--slash--compressed-with-audio.mp4 \
    -o /tmp/output_bag/video.bag --compress

compress_imgs.py

Convert Image messages to CompressedImage or CompressedDepthImage.

Usage

usage: compress_imgs.py [-h] [--out OUT] [--compressed-topics [COMPRESSED_TOPICS [COMPRESSED_TOPICS ...]]] [--replace] [--no-progress-bar] input_bagfile

Convert Image messages to CompressedImage or CompressedDepthImage

positional arguments:
  input_bagfile         input bagfile path

optional arguments:
  -h, --help            show this help message and exit
  --out OUT, -o OUT     output bagfile path
  --compressed-topics [COMPRESSED_TOPICS [COMPRESSED_TOPICS ...]]
                        this image topics are compressed
  --replace
  --no-progress-bar     Don't show progress bar.

Example

rosrun jsk_rosbag_tools compress_imgs.py $(rospack find jsk_rosbag_tools)/samples/data/20220530173950_go_to_kitchen_rosbag.bag \
  -o /tmp/20220530173950_go_to_kitchen_rosbag-compressed.bag

tf_static_to_tf.py

Convert tf_static to tf and save it as a rosbag.

usage: tf_static_to_tf.py [-h] [--out OUT] [--no-progress-bar] input_bagfile

Convert tf_static to tf and save it as a rosbag

positional arguments:
  input_bagfile      input bagfile path

optional arguments:
  -h, --help         show this help message and exit
  --out OUT, -o OUT  output bagfile path
  --no-progress-bar  Don't show progress bar.

Example

rosrun jsk_rosbag_tools tf_static_to_tf.py $(rospack find jsk_rosbag_tools)/samples/data/20220530173950_go_to_kitchen_rosbag.bag

merge.py

Merges two bagfiles.

Usage

usage: merge.py [-h] [--out output_file] [--topics TOPICS] [-i] main_bagfile bagfile

Merges two bagfiles.

positional arguments:
  main_bagfile          path to a bagfile, which will be the main bagfile
  bagfile               path to a bagfile which should be merged to the main bagfile

optional arguments:
  -h, --help            show this help message and exit
  --out output_file, -o output_file
                        name of the output file
  --topics TOPICS, -t TOPICS
                        topics which should be merged to the main bag
  -i                    reindex bagfile

Example

rosrun jsk_rosbag_tools merge.py \
    $(rospack find jsk_rosbag_tools)/samples/data/20220530173950_go_to_kitchen_rosbag.bag \
    $(rospack find jsk_rosbag_tools)/samples/data/2022-05-07-hello-test.bag

k-okada

Once we merge this package, we should update information at
http://wiki.ros.org/rosbag/Tutorials/Exporting%20image%20and%20video%20data
https://answers.ros.org/question/44777/how-to-extract-video-from-bag-file/

k-okada · 2022-06-01T00:29:47Z

jsk_rosbag_tools/package.xml

+<?xml version="1.0"?>
+<package format="3">
+  <name>jsk_rosbag_tools</name>
+  <version>0.0.1</version>


Please set version to 2.2.1, all packages in a repository must have same version number

Changed. Thank you.

k-okada · 2022-06-01T00:32:24Z

jsk_rosbag_tools/python/jsk_rosbag_tools/cv_bridge_compat.py

+
+
+# cv_bridge_python3 import
+if os.environ['ROS_PYTHON_VERSION'] == '3':


why

import sys, os; sys.path.insert(0,'/opt/ros/' + os.environ['ROS_DISTRO'] + '/lib/python3/dist-packages/') import cv_bridge from cv_bridge.boost.cv_bridge_boost import getCvType

did not work?
c.f. ros/rosdistro#32505 (comment)

I no longer need this import because I no longer use catkin virtualenv.

k-okada · 2022-06-01T00:33:54Z

jsk_rosbag_tools/requirements.in

@@ -0,0 +1,4 @@
+moviepy


could specify version? to prevent install latest version which is not compatible with this source tree.

I no longer use catkin virtualenv. So, I add it to package.xml.
https://github.com/jsk-ros-pkg/jsk_common/blob/9b7b79ed30773e275fa8ebc0aab788248bfb80dd/jsk_rosbag_tools/package.xml

k-okada · 2022-06-01T00:35:25Z

jsk_rosbag_tools/tests/test_jsk_rosbag_tools.test

+<launch>
+
+  <test test-name="test_bag_to_video" pkg="jsk_rosbag_tools" type="test_jsk_rosbag_tools.py"
+        time-limit="3600.0" />


I am afraid this test takes too long time, increasing the total test time of jsk_common, could you consider shoulder version?

I modified rosbag file to reduce test time.
Therefore, I changed the time-limit to 360.0.

k-okada · 2022-06-01T00:36:23Z

jsk_rosbag_tools/CMakeLists.txt

+
+if (${catkin_virtualenv_VERSION} VERSION_LESS "0.6.1")
+  message(WARNING "Please install catkin_virtualenv>=0.6.1.")
+  message(WARNING "Current catkin_virtualen version is ${catkin_virtualenv_VERSION}")


add return() here??

I no longer use catkin virtualenv.

k-okada · 2022-06-01T00:38:17Z

jsk_rosbag_tools/CMakeLists.txt

+    INPUT_REQUIREMENTS requirements.in
+    PYTHON_INTERPRETER python3
+    USE_SYSTEM_PACKAGES TRUE
+    ISOLATE_REQUIREMENTS FALSE


just out of curiosity, why we set FALSE?

I no longer use catkin virtualenv.

k-okada · 2022-06-01T00:39:12Z

jsk_rosbag_tools/CMakeLists.txt

+
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS catkin_virtualenv roslint rostest)


why we need to set find catkin_virtualenv and catkin_generate_vertualenv, which is already set Line .19

I no longer use catkin virtualenv.

k-okada · 2022-06-01T01:05:58Z

BTW, what happens if we merge #1704 ?? @sktometometo @iory

708yamaguchi · 2022-06-01T03:52:18Z

Thank you for this convenient features.

I want to use bag_to_video feature at the end of daily go-to-kitchen demo.

Generating video after the demo with bag_to_video, instead of during the demo with audio_video_recorder, reduces fetch's CPU usage during the demo.

In this case, I thought it would be useful to import bag_to_video as a python package.
How about achieving this feature by not using catkin_virtualenv?

708yamaguchi · 2022-06-01T03:53:47Z

jsk_rosbag_tools/scripts/bag_to_video.py

+            replaced_topic_name = topic_name
+        replaced_topic_name = replaced_topic_name.replace('/', '--slash--')
+        output_videopath = os.path.join(
+            out, "{}.mp4".format(replaced_topic_name))


How about adding an argument that specifies the name of the output file? (Same for other programs)

Thanks. Modified

708yamaguchi · 2022-06-01T05:52:18Z

Thank you for your update.

I found the following errors when executing bag_to_video.py with python 2.7.17

execution permission to each script (e.g. bag_to_video.py)
unknown argument exist_ok=True
version error when pip install -r requirements.txt
- ERROR: Could not find a version that satisfies the requirement certifi==2022.5.18.1
- ERROR: Could not find a version that satisfies the requirement charset-normalizer==2.0.12
- ERROR: Could not find a version that satisfies the requirement idna==3.3
- ERROR: Could not find a version that satisfies the requirement imageio-ffmpeg==0.4.7
- ...

iory · 2022-06-01T09:15:05Z

Once we merge this package, we should update information at

I would like to add this change to the documentation for many users.

jsk_rosbag_tools/python/jsk_rosbag_tools/cv.py

Affonso-Gui · 2022-06-02T12:10:03Z

Nice! I have tested the bag_to_video.py node a bit and it worked great, with a few caveats (iory#2)

Some thoughts:

video_to_bag.py seems to have overlap with this node http://wiki.ros.org/movie_publisher#movie_to_bag
We have some raise Exception with no arguments, which can lead to very hard-to-read bugs. Maybe consider adding an error message to them?
For example in https://github.com/iory/jsk_common/blob/rosbag-tools/jsk_rosbag_tools/python/jsk_rosbag_tools/makedirs.py#L30 I got

Traceback (most recent call last):
  File "/home/affonso/jsk_common_ws/src/jsk_common/jsk_rosbag_tools/scripts/bag_to_video.py", line 57, in <module>
    main()
  File "/home/affonso/jsk_common_ws/src/jsk_common/jsk_rosbag_tools/scripts/bag_to_video.py", line 53, in main
    audio_topic=args.audio_topic)
  File "/home/affonso/jsk_common_ws/src/jsk_common/jsk_rosbag_tools/python/jsk_rosbag_tools/bag_to_video.py", line 84, in bag_to_video
    makedirs(osp.dirname(output_filepath))
  File "/home/affonso/jsk_common_ws/src/jsk_common/jsk_rosbag_tools/python/jsk_rosbag_tools/makedirs.py", line 30, in makedirs
    raise OSError
OSError

as opposed to the more informative OSError: [Errno 2] No such file or directory: ''

Why --slash-- instead of normal underscores in https://github.com/iory/jsk_common/blob/rosbag-tools/jsk_rosbag_tools/python/jsk_rosbag_tools/topic_name_utils.py#L6 ???

708yamaguchi · 2022-06-04T02:51:02Z

Today's fetch go-to-kitchen demo, fetch cannot create good video from /rviz/image/compressed..
Fetch kitchen patrol demo: 2022/06/04 (09:55:10)

I reproduce this problem on my laptop, too.
This is the link to the rosbag file. (I manually extracted /rviz/image/compressed, so this rosbag file has only one topic).
https://drive.google.com/file/d/1x2bnU8S_XWoeuMNJGbJHBPTD3STE1DAt/view?usp=sharing

iory · 2022-06-04T06:35:13Z

Thank you for your feedback.

video_to_bag.py seems to have overlap with this node http://wiki.ros.org/movie_publisher#movie_to_bag

I see. I think there are differences between video_to_bag.py and movie_to_bag

video_to_bag.py don't need roscore.
movie_to_bag don't put audio in a bag file.
movie_to_bag (https://github.com/peci1/movie_publisher/blob/melodic-devel/scripts/movie_to_bag) is a shell script.

Having video_to_bag.py in jsk_rosbag_tools has the advantage of being at least easier for jsk users to recognize and maintain it.

We have some raise Exception with no arguments, which can lead to very hard-to-read bugs. Maybe consider adding an error message to them?

Thanks! I added a messages on raise.

Why --slash-- instead of normal underscores in https://github.com/iory/jsk_common/blob/rosbag-tools/jsk_rosbag_tools/python/jsk_rosbag_tools/topic_name_utils.py#L6 ???

The topic name may contain an underscore, so I'm doing this to restore the original topic name correctly.

iory · 2022-06-09T14:22:35Z

@708yamaguchi
Thanks for your feedback!
This problem occurs when the image size changes. I fixed it with this commit.
ce184ee

rviz--slash--image--slash--compressed.mp4

…erator

… fix video

…nts.txt

iory · 2022-06-30T04:15:36Z

Test passed.
Could someone review this PR?

Some people use this node in their projects.
jsk-ros-pkg/jsk_recognition#2703 @nakane11
knorth55#11 @708yamaguchi @tkmtnt7000

k-okada · 2022-06-30T09:24:03Z

I am afraid this package installs a lot of pip dependences , so I prefer to use catkin_virtualenv, please re-consider using that . If so, I am happy with merging this PR
https://github.com/Zulko/moviepy/blob/18e9f57d1abbae8051b9aef75de3f19b4d1f0630/setup.py#L74-L92

Just for note;
The packages is valid only when you show some results which is not achieved without the proposed feature. I am looking for RSJ papers that uses audio-visual information.

Naoki-Hiraoka · 2022-06-30T12:25:13Z

tf_static_to_tf.py とhttps://github.com/jsk-ros-pkg/jsk_common/blob/master/jsk_topic_tools/scripts/static_tf_republisher.py は一長一短があるので適切な使い分けが必要ですが、別の場所に置いてあるので片方を見つけられなそうです。2つを同じ場所に置くか、類似のソフトウェアがあることをドキュメントに書いておくことはできますでしょうか。

iory · 2022-07-01T05:20:45Z

I am afraid this package installs a lot of pip dependences , so I prefer to use catkin_virtualenv, please re-consider using that . If so, I am happy with merging this PR

I re-enabled catkin-virtualenv. fb24554

Just for note;
The packages is valid only when you show some results which is not achieved without the proposed feature. I am looking for RSJ papers that uses audio-visual information.

I'll keep in mind.

iory · 2022-07-01T05:21:34Z

@Naoki-Hiraoka

tf_static_to_tf.py とhttps://github.com/jsk-ros-pkg/jsk_common/blob/master/jsk_topic_tools/scripts/static_tf_republisher.py は一長一短があるので適切な使い分けが必要ですが、別の場所に置いてあるので片方を見つけられなそうです。2つを同じ場所に置くか、類似のソフトウェアがあることをドキュメントに書いておくことはできますでしょうか。

こちらのREADMEの方に書きました。
007febb
確認よろしくお願いします。

Naoki-Hiraoka · 2022-07-01T06:38:52Z

@iory ご対応くださりありがとうございます。READMEに十分な記述が加わったことを確認しました。

iory · 2022-07-03T11:48:34Z

Thanks for merging.
I updated the documents in ROS community.
https://answers.ros.org/question/44777/how-to-extract-video-from-bag-file/?answer=403176#post-id-403176
http://wiki.ros.org/rosbag/Tutorials/Exporting%20image%20and%20video%20data#Converting_images_in_rosbag_into_an_Video_using_jsk_rosbag_tools

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jsk_rosbag_tools/python/jsk_rosbag_tools/cv.py Outdated Show resolved Hide resolved

iory mentioned this pull request Jun 2, 2022

Set the format of compressed image following image_transport. jsk-ros-pkg/coral_usb_ros#104

Closed

This was referenced Jun 2, 2022

[app_recorder] Add rosbag converter plugins knorth55/app_manager_utils#54

Merged

Add jsk_rosbag_tools for fetch15 knorth55/jsk_common#11

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iory closed this Jun 4, 2022

iory reopened this Jun 4, 2022

nakane11 mentioned this pull request Jun 27, 2022

[jsk_perception] Add Lidar person detection Node jsk-ros-pkg/jsk_recognition#2703

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iory force-pushed the rosbag-tools branch 5 times, most recently from abce8c5 to 7d6bb9e Compare June 28, 2022 07:11

iory added 7 commits June 30, 2022 09:34

Add jsk_rosbag_tools package

c90651d

[jsk_rosbag_tools] Drop catkin virtualenv

7218ec9

[jsk_rosbag_tools] Set version to 2.2.11

1285a82

[jsk_rosbag_tools] Modified sample bagfile to reduce test time

1a67212

[jsk_rosbag_tools] Set time-limit to 360.0

cdc7f5c

[jsk_rosbag_tools] Add makedirs library for python2

fd1d92c

[jsk_rosbag_tools] Add topic_name_to_file_name

bf8fb8b

iory added 14 commits June 30, 2022 09:34

[jsk_rosbag_tools] Add message to raise

f3ec40d

[jsk_rosbag_tools] Add fps option

34986eb

[jsk_rosbag_tools] Add .wav ext

84fe119

[jsk_rosbag_tools] Add show_progress_bar option

12fcea8

[jsk_rosbag_tools] Fixed E226 missing whitespace around arithmetic op…

15c0a94

…erator

[jsk_rosbag_tools] Fixed W503 line break before binary operator

fd04e31

[jsk_rosbag_tools] Add resize_keeping_aspect_ratio_wrt_target_size to…

f334654

… fix video

[jsk_rosbag_tools] Avoid raise ValueError on invalid compressed format.

e881250

[jsk_rosbag_tools] Refactor test to print command log

ba11a33

[jsk_rosbag_tools] Add dependencies of download data

e5fc229

[jsk_rosbag_tools] Drop installation of requirements.in and requireme…

6fb2642

…nts.txt

[jsk_rosbag_tools] Split test to avoid indigo's error

1ec14ee

[jsk_rosbag_tools] logerr subprocess command if failed

00f043b

[jsk_rosbag_tools] Specify python version

a1786d1

iory force-pushed the rosbag-tools branch from 7d6bb9e to a1786d1 Compare June 30, 2022 00:34

iory added enhancement doc test labels Jun 30, 2022

tkmtnt7000 approved these changes Jun 30, 2022

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iory added 2 commits July 1, 2022 03:41

[jsk_rosbag_tools] Enable catkin_virtualenv for pip dependencies

fb24554

[jsk_rosbag_tools] Add descriptions for static_tf_republisher.py.

007febb

k-okada merged commit 7147133 into jsk-ros-pkg:master Jul 3, 2022

iory deleted the rosbag-tools branch July 3, 2022 11:08

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Add jsk_rosbag_tools package #1738

Add jsk_rosbag_tools package #1738

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		# cv_bridge_python3 import
		if os.environ['ROS_PYTHON_VERSION'] == '3':



		if(CATKIN_ENABLE_TESTING)
		find_package(catkin REQUIRED COMPONENTS catkin_virtualenv roslint rostest)

Add jsk_rosbag_tools package #1738

Add jsk_rosbag_tools package #1738

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iory commented May 31, 2022 • edited Loading

What is this?

bag_to_video.py

Usage

Example

bag_to_audio.py

Usage

Example

video_to_bag.py

Usage

Example

compress_imgs.py

Usage

Example

tf_static_to_tf.py

Example

merge.py

Usage

Example

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