Merge pull request #1738 from iory/rosbag-tools

Add jsk_rosbag_tools package

jsk_common/package.xml

@@ -19,6 +19,7 @@
   <exec_depend>audio_video_recorder</exec_depend>
   <exec_depend>dynamic_tf_publisher</exec_depend>
   <exec_depend>image_view2</exec_depend>
+  <exec_depend>jsk_rosbag_tools</exec_depend>
   <exec_depend>jsk_topic_tools</exec_depend>
   <exec_depend>jsk_tools</exec_depend>
   <exec_depend>multi_map_server</exec_depend>

jsk_rosbag_tools/.gitignore

@@ -0,0 +1,2 @@
+!.gitignore
+requirements.txt

jsk_rosbag_tools/CMakeLists.txt

@@ -0,0 +1,83 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(jsk_rosbag_tools)
+
+find_package(
+  catkin REQUIRED
+  catkin_virtualenv
+)
+
+if (${catkin_virtualenv_VERSION} VERSION_LESS "0.5.1")
+  message(STATUS "jsk_rosbag_tools requires catkin_virtualenv >= 0.5.1")
+  return()
+endif()
+
+
+catkin_python_setup()
+
+catkin_package(
+  CATKIN_DEPENDS
+)
+
+if($ENV{ROS_DISTRO} STREQUAL "noetic")
+  catkin_generate_virtualenv(
+    INPUT_REQUIREMENTS requirements.in
+    PYTHON_INTERPRETER python3
+  )
+else()
+  catkin_generate_virtualenv(
+    INPUT_REQUIREMENTS requirements.in
+  )
+endif()
+
+file(GLOB SCRIPTS_FILES scripts/*)
+catkin_install_python(
+  PROGRAMS ${SCRIPTS_FILES}
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+catkin_download(download_audio_data
+  https://drive.google.com/uc?export=download&id=1rFZYoFjLqIWjEe0DaNiL3k9893m31nu7
+  DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/samples/data
+  FILENAME 2022-05-07-hello-test.bag
+  MD5 3650e27dad2c7dc0e447033259290db6
+)
+catkin_download(download_video_data
+  https://drive.google.com/uc?export=download&id=1v4YNOHnHYxLOty1lYR2R6lfNF0itCwK7
+  DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/samples/data
+  FILENAME 20220530173950_go_to_kitchen_rosbag.bag
+  MD5 d51fa8aeacd36f7aaa1597b67bd9ffdf
+)
+add_custom_target(download ALL DEPENDS download_audio_data download_video_data)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS roslint rostest)
+
+  set(python_test_scripts
+    tests/test_jsk_rosbag_tools.py
+    tests/test_bag_to_video.py
+  )
+
+  roslint_python()
+  roslint_python(${python_test_scripts})
+  roslint_add_test()
+
+  catkin_install_python(PROGRAMS ${python_test_scripts}
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+  add_rostest(tests/test_jsk_rosbag_tools.test
+    DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv download_audio_data download_video_data)
+  if("$ENV{ROS_DISTRO}" STRGREATER "indigo")
+    # could not install moviepy on indigo.
+    add_rostest(tests/test_bag_to_video.test
+      DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv download_audio_data download_video_data)
+  endif()
+endif()
+
+install(DIRECTORY scripts samples
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
+
+install(FILES requirements.txt
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

jsk_rosbag_tools/README.md

@@ -0,0 +1,195 @@
+# jsk_rosbag_tools
+
+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
+```
+
+### Note
+
+`jsk_topic_tools` has a [static_tf_republisher.py](https://jsk-docs.readthedocs.io/projects/jsk_common/en/latest/jsk_topic_tools/scripts/static_tf_republisher.html) which republish `/tf_static` from a rosbag file.
+
+`tf_static_to_tf.py` is an approach to rewrite the rosbag file.
+
+## 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
+```

jsk_rosbag_tools/package.xml

@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>jsk_rosbag_tools</name>
+  <version>2.2.11</version>
+  <description>The rosbag tools</description>
+  <license>BSD</license>
+
+  <maintainer email="[email protected]">Iori Yanokura</maintainer>
+  <author email="[email protected]">Iori Yanokura</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>python-catkin-pkg-modules</buildtool_depend>
+
+  <build_depend version_gte="0.5.1">catkin_virtualenv</build_depend>
+
+  <exec_depend>audio_common_msgs</exec_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>ffmpeg</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg-modules</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-scipy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-termcolor</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-tqdm</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-rospkg-modules</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-scipy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-termcolor</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-tqdm</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+
+  <test_depend>roslint</test_depend>
+  <test_depend>rostest</test_depend>
+
+  <export>
+    <pip_requirements>requirements.txt</pip_requirements>
+  </export>
+
+</package>

jsk_rosbag_tools/python/jsk_rosbag_tools/__init__.py

@@ -0,0 +1 @@
+# flake8: noqa

jsk_rosbag_tools/python/jsk_rosbag_tools/bag_to_audio.py

@@ -0,0 +1,50 @@
+import os
+import os.path as osp
+
+import numpy as np
+import rosbag
+from scipy.io.wavfile import write as wav_write
+
+from jsk_rosbag_tools.extract import extract_oneshot_topic
+from jsk_rosbag_tools.info import get_topic_dict
+from jsk_rosbag_tools.makedirs import makedirs
+
+
+def bag_to_audio(bag_filepath,
+                 wav_outpath,
+                 topic_name='/audio',
+                 audio_info_topic_name=None,
+                 samplerate=44100,
+                 channels=1,
+                 overwrite=True):
+    if os.path.exists(wav_outpath) and overwrite is False:
+        raise FileExistsError('{} file already exists.'.format(wav_outpath))
+    topic_dict = get_topic_dict(bag_filepath)
+    if topic_name not in topic_dict:
+        return
+
+    audio_info_topic_name = audio_info_topic_name or topic_name + '_info'
+    # if audio_info_topic exists, extract info from it.
+    if audio_info_topic_name in topic_dict:
+        audio_info = extract_oneshot_topic(bag_filepath, audio_info_topic_name)
+        if audio_info is not None:
+            samplerate = audio_info.sample_rate
+            channels = audio_info.channels
+
+    bag = rosbag.Bag(bag_filepath)
+    audio_buffer = []
+    for _, msg, _ in bag.read_messages(topics=[topic_name]):
+        if msg._type == 'audio_common_msgs/AudioData':
+            buf = np.frombuffer(msg.data, dtype='int16')
+            buf = buf.reshape(-1, channels)
+            audio_buffer.append(buf)
+    audio_buffer = np.concatenate(audio_buffer, axis=0)
+
+    makedirs(osp.dirname(wav_outpath))
+    wav_write(wav_outpath, rate=samplerate, data=audio_buffer)
+
+    valid = os.stat(wav_outpath).st_size != 0
+    if valid is False:
+        return False
+
+    return True