Implemented Dockerisation + Direct Sqlite3 Extraction for ROS 2 Bag Folders

Dockerfile.ros1

@@ -0,0 +1,24 @@
+FROM ros:noetic-perception
+
+# Install system packages
+RUN apt-get update && apt-get install -y --no-install-recommends \
+      ffmpeg \
+      ros-noetic-rosbag* \
+      python3-setuptools \
+      python3-pip && \
+      pip3 install rospkg pycryptodome && \ 
+    rm -rf /var/lib/apt/lists/*
+
+# Setting up working directory 
+WORKDIR /rosbag2video_workspace
+
+# Add user
+RUN useradd -ms /bin/bash ubuntu
+RUN echo 'ubuntu:asdf' | chpasswd
+RUN adduser ubuntu sudo
+RUN chown -R ubuntu /rosbag2video_workspace
+USER ubuntu
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+
+

Dockerfile.ros2

@@ -0,0 +1,15 @@
+FROM ros:humble-perception
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ffmpeg && \
+    rm -rf /var/lib/apt/lists/*
+
+# Setting up working directory 
+WORKDIR /ros2bag2video_workspace
+
+# Add user
+RUN adduser --quiet --disabled-password user
+RUN chown -R user:user /ros2bag2video_workspace
+USER user
+
+ENTRYPOINT ["/ros_entrypoint.sh"]

README.md

@@ -8,72 +8,144 @@ [email protected]
 
 with contributions from
 Abel Gabor 2019,
-Bey Hao Yun 2021
+Bey Hao Yun 2024
 [email protected],
 [email protected]
 [email protected]
 ```
 
 ## **Install**
 
-**ffmpeg** is needed and can be installed on **Ubuntu** with:
+Build docker images using the commands below:
+
+1. Download `rosbag2video`:
+
+```bash
+cd $HOME
+```
 
 ```bash
-sudo apt install ffmpeg
+git clone https://github.com/mlaiacker/rosbag2video --depth 1 --branch sqlite3_extraction_ros2 --single-branch && cd rosbag2video
 ```
 
-**ROS2** and **other stuff**.
+2. Build docker image for running ROS 1 `rosbag2video.py`:
 
 ```bash
-sudo apt install python3-sensor-msgs python3-opencv ros-foxy-rosbag2-transport
+docker build -f Dockerfile.ros1 -t ros2bagvideo:noetic .
+```
+
+3. Build docker image for running ROS 2 `ros2bag2video.py`:
+
+```bash
+docker build -f Dockerfile.ros2 -t ros2bagvideo:humble .
 ```
 
 ## **Usage**
 
+For processing ROS 1 bag files, please use `rosbag2video.py`:
+
 ``` bash
-ros2bag2video.py [--fps 25] [--rate 1.0] [-o outputfile] [-v] [-s] [-t topic] bagfile1
+rosbag2video.py [--fps 25] [--rate 1] [-o outputfile] [-v] [-s] [-t topic] bagfile1 [bagfile2] ...
 
 Converts image sequence(s) in ros bag file(s) to video file(s) with fixed frame rate using ffmpeg
 ffmpeg needs to be installed!
 
 --fps   Sets FPS value that is passed to ffmpeg
+        Default is 25.
+-h      Displays this help.
+--ofile (-o) sets output file name.
+        If no output file name (-o) is given the filename '<prefix><topic>.mp4' is used and default output codec is h264.
+        Multiple image topics are supported only when -o option is _not_ used.
+         ffmpeg  will guess the format according to given extension.
+        Compressed and raw image messages are supported with mono8 and bgr8/rgb8/bggr8/rggb8 formats.
+--rate  (-r) You may slow down or speed up the video.
+        Default is 1.0, that keeps the original speed.
+-s      Shows each and every image extracted from the rosbag file (cv_bride is needed).
+--topic (-t) Only the images from topic "topic" are used for the video output.
+-v      Verbose messages are displayed.
+--prefix (-p) set a output file name prefix othervise 'bagfile1' is used (if -o is not set).
+--start Optional start time in seconds.
+--end   Optional end time in seconds.
+```
+
+For processing ROS 2 bag folders, please use `ros2bag2video.py`:
+
+``` bash
+ros2bag2video.py [--rate 1.0]  [-t topic] [-i bagfolder1] [-o outputfile] [-v] [-s]
+
+Converts image sequence(s) in ros bag file(s) to video file(s) with fixed frame rate using ffmpeg
+ffmpeg needs to be installed!
+
+--rate  (-r) Sets FPS value that is passed to ffmpeg
             Default is 25.
 -h      Displays this help.
 --ofile (-o) sets output file name.
         If no output file name (-o) is given the filename 'output.mp4' is used.
+--ifile (-i) sets input file name.
 --rate  (-r) You may slow down or speed up the video.
         Default is 1.0, that keeps the original speed.
 -s      Shows each and every image extracted from the rosbag file.
 --topic (-t) Only the images from topic "topic" are used for the video output.
 -v      Verbose messages are displayed.
 ```
 
-## **Example Output**
+## **Run**
+
+For running ROS 1 `rosbag2video.py`:
+
+```bash
+docker run -it --rm \
+    --name rosbag2video_c \
+    -v ./:/rosbag2video_workspace \
+  ros2bagvideo:noetic bash 
+```
+
+```bash
+source /opt/ros/noetic/setup.bash
+```
+
+```bash
+python3 rosbag2video.py -t <topic_name> -o <output_video_file_name> <bag_file_name> 
+# Eg. python3 rosbag2video.py -t /cam0/image_raw -o myvideo.mp4 ar_tracking_1.bag
+```
+
+For running ROS 2 `ros2bag2video.py`:
+
+```bash
+docker run -it --rm \
+    --name ros2bag2video_c \
+    -v ./:/ros2bag2video_workspace \
+  ros2bagvideo:humble bash 
+```
 
 ```bash
-# Source ROS2 Humble
 source /opt/ros/humble/setup.bash
+```
+
+```bash
+python3 ros2bag2video.py -t <topic_name> -i <bag_folder_name> --save_images -o <output_video_file_name>
+# Eg. python3 ros2bag2video.py -t /virtual_camera/image_raw -i rosbag2_2024_10_11-19_45_28 --save_images -o myvideo.mp4
+```
+
+## **Example Output**
+If running `ros2bag2video.py` correctly, you should see something similar to what is shown below:
 
-# Run the script.  Rate greater than 5.0 leads to dropped frames on the test PC.
-./ros2bag2video.py --fps=25 --rate=5.0 -t /camera_node/image_raw/compressed ~/Documents/rosbag2_2023_04_19-14_44_56
-
-
-FPS (int) =  25
-Rate (float) =  1.0
-Topic (str) =  /camera_node/image_raw/compressed
-Output File (str) =  output.mp4
-Verbose (bool) =  False
-bag_file =  rosbag2_2023_04_19-14_44_56/
-[INFO] [1619616391.700087224] [rosbag2_storage]: Opened database './rosbag2_2023_04_19-14_44_56/rosbag2_2023_04_19-14_44_56.db3' for READ_ONLY.
-[INFO] [1619616392.055535299] [ros2bag2videos]: Image Received [1/28]
-[INFO] [1619616392.077294702] [ros2bag2videos]: Image Received [2/28]
-[INFO] [1619616392.299152538] [ros2bag2videos]: Image Received [3/28]
-[INFO] [1619616392.792717810] [ros2bag2videos]: Image Received [4/28]
-[INFO] [1619616393.268813798] [ros2bag2videos]: Image Received [5/28]
-[INFO] [1619616393.724949415] [ros2bag2videos]: Image Received [6/28]
-[INFO] [1619616394.199588269] [ros2bag2videos]: Image Received [7/28]
-[INFO] [1619616394.667638765] [ros2bag2videos]: Image Received [8/28]
+```bash
+[INFO] - Processing messages: [43/193]
 ...
-Writing to output file, output.mp4
+frame=  187 fps=6.3 q=29.0 size=   11264kB time=00:00:04.06 bitrate=22690.2kbits/s speed=0.187x 
+frame=  193 fps=5.7 q=-1.0 Lsize=   17157kB time=00:00:06.33 bitrate=22191.6kbits/s speed=0.187x    
+[INFO] - Writing video to: myvideo.mp4
+```
+
+If running `rosbag2video.py` correctly, you should see something similar to what is shown below:
+
+```bash
+############# UNCOMPRESSED IMAGE ######################
+/cam0/image_raw  with datatype: sensor_msgs/Image
 
+frame=  178 fps=0.0 q=28.0 size=     256kB time=00:00:04.64 bitrate= 452.0kbits/s speed
+frame=  340 fps=338 q=28.0 size=     768kB time=00:00:11.12 bitrate= 565.8kbits/s speed
+frame=  513 fps=341 q=28.0 size=    1280kB time=00:00:18.04 bitrate= 581.3kbits/s speed
+finished  
 ```