Code refactoring

README.md

@@ -23,7 +23,7 @@ ros_utils.get_images_from_bag(
          output_folder="/output_imgs/",
          file_format="jpg",
          create_manifest=True,
-         topics="/camera/image_raw",
+         topics=["/camera/image_raw"],
          naming="sequential",
          resize=[640,480],
          sample=2,
@@ -65,7 +65,7 @@ Do you have a request for a data format that's not listed above? Raise an issue
 
 ## Community
 
-If you have any questions, comments, or want to chat, please join [our Slack channel](#).
+If you have any questions, comments, or want to chat, please join [our Discord channel](https://discord.com/invite/rvXqP6EjwF).
 
 ## Contribute 
 ### How to Contribute

python/robologs_ros_utils/cli.py

@@ -1,13 +1,9 @@
 import click
 
-from robologs_ros_utils.sources.ros1 import (
-    clip_rosbag,
-    get_csv_data_from_bag,
-    get_images_from_bag,
-    get_summary_from_bag,
-    get_videos_from_bag,
-    split_rosbag,
-)
+from robologs_ros_utils.sources.ros1 import (get_csv_data_from_bag,
+                                             get_images_from_bag,
+                                             get_summary_from_bag,
+                                             get_videos_from_bag)
 
 
 @click.group(invoke_without_command=True)
@@ -33,9 +29,7 @@ def cli(ctx):
 cli.add_command(get_images_from_bag.get_images)
 cli.add_command(get_videos_from_bag.get_videos)
 cli.add_command(get_summary_from_bag.get_summary)
-cli.add_command(clip_rosbag.clip_rosbag)
 cli.add_command(get_csv_data_from_bag.get_csv_data_from_bag)
-cli.add_command(split_rosbag.split_rosbag)
 
 
 def main():

python/robologs_ros_utils/sources/ros1/argument_parsers.py

@@ -1,9 +1,10 @@
 def get_width_height_from_args(resize_arg: str) -> list:
     """
+    Get width and height from resize argument
     Args:
         resize_arg (str):
 
-    Returns:
+    Returns: list of width and height
 
     """
     if not resize_arg:

python/robologs_ros_utils/sources/ros1/commands.py

@@ -1,6 +1,6 @@
 import click
 
-from . import clip_rosbag, get_images_from_bag, get_summary_from_bag, get_videos_from_bag, split_rosbag
+from . import get_images_from_bag, get_summary_from_bag, get_videos_from_bag
 
 
 @click.group()
@@ -14,5 +14,3 @@ def ros():
 ros.add_command(get_images_from_bag.get_images)
 ros.add_command(get_videos_from_bag.get_videos)
 ros.add_command(get_summary_from_bag.get_summary)
-ros.add_command(clip_rosbag.clip_rosbag)
-ros.add_command(split_rosbag.split_rosbag)

python/robologs_ros_utils/sources/ros1/get_csv_data_from_bag.py

@@ -1,9 +1,6 @@
-import os
-
 import click
 
 from robologs_ros_utils.sources.ros1 import ros_utils
-from robologs_ros_utils.utils import file_utils
 
 
 def process_topics(ctx, param, value):

python/robologs_ros_utils/sources/ros1/get_summary_from_bag.py

@@ -1,6 +1,6 @@
-import os.path
 import json
 import os
+import os.path
 
 import click
 

python/robologs_ros_utils/sources/ros1/ros_img_tools.py

@@ -1,66 +1,75 @@
 import glob
-import io
 import os
 import subprocess
 
 import cv2
 import numpy as np
-from PIL import Image
 
 
 def convert_compressed_depth_to_cv2(compressed_depth):
     """
-    Convert a compressedDepth topic image into a cv2 image.
-    compressed_depth must be from a topic /bla/compressedDepth
-    as it's encoded in PNG
-    Code from: https://answers.ros.org/question/249775/display-compresseddepth-image-python-cv2/
+    Converts a ROS compressedDepth image into an OpenCV image.
+
+    Args:
+        compressed_depth: A sensor_msgs/CompressedImage message from a ROS compressedDepth topic.
+
+    Returns:
+        OpenCV image representing the depth image.
+
+    Raises:
+        Exception: If the compression type is not 'compressedDepth' or the depth image could not be decoded.
+
+    Note:
+        Code adapted from: https://answers.ros.org/question/249775/display-compresseddepth-image-python-cv2/
     """
     depth_fmt, compr_type = compressed_depth.format.split(";")
-    # remove white space
     depth_fmt = depth_fmt.strip()
     compr_type = compr_type.strip().replace(" png", "")
+
     if compr_type != "compressedDepth":
-        raise Exception("Compression type is not 'compressedDepth'." "You probably subscribed to the wrong topic.")
+        raise Exception("Compression type is not 'compressedDepth'. Incorrect topic subscribed.")
 
     depth_header_size = 12
     raw_data = compressed_depth.data[depth_header_size:]
 
-    depth_img_raw = cv2.imdecode(np.frombuffer(raw_data, np.uint8), 0)
+    depth_img_raw = cv2.imdecode(np.frombuffer(raw_data, np.uint8), cv2.IMREAD_UNCHANGED)
 
     if depth_img_raw is None:
-        # probably wrong header size
-        raise Exception("Could not decode compressed depth image." "You may need to change 'depth_header_size'!")
-    result = cv2.normalize(depth_img_raw, depth_img_raw, 0, 255, norm_type=cv2.NORM_MINMAX)
+        raise Exception("Could not decode compressed depth image. Adjust 'depth_header_size' if necessary.")
 
-    im_color = cv2.applyColorMap(depth_img_raw, cv2.COLORMAP_JET)
+    depth_img_norm = cv2.normalize(depth_img_raw, depth_img_raw, 0, 255, norm_type=cv2.NORM_MINMAX)
+    depth_img_colormap = cv2.applyColorMap(depth_img_raw, cv2.COLORMAP_JET)
 
-    return im_color
+    return depth_img_colormap
 
 
 def convert_image_to_cv2(msg):
     """
+    Converts a ROS image message into an OpenCV image.
+
     Args:
-        msg ():
+        msg: A sensor_msgs/Image message.
 
     Returns:
-
+        OpenCV image.
     """
-    np_arr = np.fromstring(msg.data, np.uint8)
-    image_np = cv2.imdecode(np_arr, cv2.IMREAD_UNCHANGED)
-    return image_np
+    np_arr = np.frombuffer(msg.data, np.uint8)
+    return cv2.imdecode(np_arr, cv2.IMREAD_UNCHANGED)
 
 
 def create_video_from_images(input_path, output_path, output_name="video.mp4", frame_rate=12, resize=None):
     """
+    Creates a video from a collection of images stored in a specified directory.
+
     Args:
-        input_path ():
-        output_path ():
-        output_name ():
-        frame_rate ():
-        resize ():
+        input_path (str): Directory where the input images are stored.
+        output_path (str): Directory where the output video will be saved.
+        output_name (str): Name of the output video file. Defaults to 'video.mp4'.
+        frame_rate (int): Frame rate of the output video. Defaults to 12.
+        resize (float, optional): Factor by which to resize the images. If None, images are not resized.
 
     Returns:
-
+        None
     """
     img_array = []
     output_video_path = os.path.join(output_path, output_name)
@@ -69,21 +78,18 @@ def create_video_from_images(input_path, output_path, output_name="video.mp4", f
     img_list = sorted(glob.glob(os.path.join(input_path, "./*.jpg")))
 
     if not img_list:
-        sorted(glob.glob(os.path.join(input_path, "./*.png")))
+        img_list = sorted(glob.glob(os.path.join(input_path, "./*.png")))
 
     if not img_list:
-        return 
+        print("No images found in the specified directory.")
+        return
 
     for filename in img_list:
         img = cv2.imread(filename)
         if resize:
             img = cv2.resize(img, (0, 0), fx=resize, fy=resize, interpolation=cv2.INTER_LANCZOS4)
 
-        if len(img.shape) == 3:
-            height, width, _ = img.shape
-        else:
-            height, width = img.shape
-
+        height, width = (img.shape[0], img.shape[1]) if len(img.shape) == 3 else img.shape
         size = (width, height)
         img_array.append(img)
 
@@ -93,6 +99,6 @@ def create_video_from_images(input_path, output_path, output_name="video.mp4", f
         out.write(img_array[i])
     out.release()
 
+    # Using FFmpeg to convert the temporary video to final format
     subprocess.call(["ffmpeg", "-i", output_video_path_temp, "-vcodec", "libx264", "-y", output_video_path])
     os.remove(output_video_path_temp)
-    return