├── .gitignore ├── Dockerfile.ros1 ├── Dockerfile.ros2 ├── LICENSE ├── README.md └── rosbag2video.py /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | 5 | # C extensions 6 | *.so 7 | 8 | # Distribution / packaging 9 | .Python 10 | env/ 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | *.egg-info/ 23 | .installed.cfg 24 | *.egg 25 | 26 | # PyInstaller 27 | # Usually these files are written by a python script from a template 28 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 29 | *.manifest 30 | *.spec 31 | 32 | # Installer logs 33 | pip-log.txt 34 | pip-delete-this-directory.txt 35 | 36 | # Unit test / coverage reports 37 | htmlcov/ 38 | .tox/ 39 | .coverage 40 | .coverage.* 41 | .cache 42 | nosetests.xml 43 | coverage.xml 44 | *,cover 45 | 46 | # Translations 47 | *.mo 48 | *.pot 49 | 50 | # Django stuff: 51 | *.log 52 | 53 | # Sphinx documentation 54 | docs/_build/ 55 | 56 | # PyBuilder 57 | target/ 58 | 59 | # Ignore intermediate and output files. 60 | *.png 61 | *.mp4 62 | -------------------------------------------------------------------------------- /Dockerfile.ros1: -------------------------------------------------------------------------------- 1 | FROM ros:noetic-perception 2 | 3 | # Install system packages 4 | RUN apt-get update && apt-get install -y --no-install-recommends \ 5 | ffmpeg \ 6 | ros-noetic-rosbag* \ 7 | python3-setuptools \ 8 | python3-pip && \ 9 | pip3 install rospkg pycryptodome && \ 10 | rm -rf /var/lib/apt/lists/* 11 | 12 | # Setting up working directory 13 | WORKDIR /rosbag2video_workspace 14 | 15 | # Add user 16 | RUN useradd -ms /bin/bash ubuntu 17 | RUN echo 'ubuntu:asdf' | chpasswd 18 | RUN adduser ubuntu sudo 19 | RUN chown -R ubuntu /rosbag2video_workspace 20 | USER ubuntu 21 | 22 | ENTRYPOINT ["/ros_entrypoint.sh"] 23 | 24 | 25 | -------------------------------------------------------------------------------- /Dockerfile.ros2: -------------------------------------------------------------------------------- 1 | FROM ros:humble-perception 2 | 3 | # Install system packages 4 | RUN apt-get update \ 5 | && apt-get install -y --no-install-recommends \ 6 | ffmpeg \ 7 | python3-pip \ 8 | && pip3 install rosbags 9 | && rm -rf /var/lib/apt/lists/* 10 | 11 | # Setting up working directory 12 | WORKDIR /rosbag2video_workspace 13 | 14 | # Add user 15 | RUN adduser --quiet --disabled-password user 16 | RUN chown -R user:user /rosbag2video_workspace 17 | USER user 18 | 19 | ENTRYPOINT ["/ros_entrypoint.sh"] 20 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 2, June 1991 3 | 4 | Copyright (C) 1989, 1991 Free Software Foundation, Inc., 5 | 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 6 | Everyone is permitted to copy and distribute verbatim copies 7 | of this license document, but changing it is not allowed. 8 | 9 | Preamble 10 | 11 | The licenses for most software are designed to take away your 12 | freedom to share and change it. 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If this is what you want to do, use the GNU Lesser General 339 | Public License instead of this License. 340 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # **rosbag2video** 2 | 3 | ```text 4 | rosbag2video.py 5 | rosbag to video file conversion tool 6 | by Maximilian Laiacker 2020 7 | post@mlaiacker.de 8 | 9 | with contributions from 10 | Abel Gabor 2019, 11 | Bey Hao Yun 2024 12 | baquatelle@gmail.com, 13 | beyhy94@gmail.com 14 | a.j.blight@leeds.ac.uk 15 | ``` 16 | 17 | ## **Install** 18 | 19 | Build docker images using the commands below: 20 | 21 | 1. Download `rosbag2video`: 22 | 23 | ```bash 24 | cd $HOME 25 | ``` 26 | 27 | ```bash 28 | git clone https://github.com/mlaiacker/rosbag2video 29 | ``` 30 | 31 | 2. Build docker image for running ROS 1 `rosbag2video.py`: 32 | 33 | ```bash 34 | docker build -f Dockerfile.ros1 -t rosbag2video:noetic . 35 | ``` 36 | 37 | 3. Build docker image for running ROS 2 `ros2bag2video.py`: 38 | 39 | ```bash 40 | docker build -f Dockerfile.ros2 -t rosbag2video:humble . 41 | ``` 42 | 43 | ## **Usage** 44 | 45 | ``` bash 46 | rosbag2video [-h] [-v] [-r RATE] -t TOPIC -i IFILE [-o OFILE] [--save_images] 47 | [--frames FRAMES] 48 | 49 | Convert ROS bag (1/2) to video using ffmpeg. 50 | 51 | options: 52 | -h, --help show this help message and exit 53 | -v, --verbose Run rosbag2video script in verbose mode. 54 | -r RATE, --rate RATE Video framerate 55 | -t TOPIC, --topic TOPIC 56 | Topic Name 57 | -i IFILE, --ifile IFILE 58 | Input File 59 | -o OFILE, --ofile OFILE 60 | Output File 61 | --save_images Boolean flag for saving extracted .png frames in frames/ 62 | --frames FRAMES Limit the number of frames to export 63 | ``` 64 | 65 | ### **ROS 1** 66 | 67 | ```bash 68 | docker run -it --rm \ 69 | --name rosbag2video_c \ 70 | -v ./:/rosbag2video_workspace \ 71 | rosbag2video:noetic bash 72 | ``` 73 | 74 | ```bash 75 | source /opt/ros/noetic/setup.bash 76 | ``` 77 | 78 | ```bash 79 | python3 rosbag2video.py -t -i -o 80 | # Eg. python3 rosbag2video.py -t /cam0/image_raw -i ar_tracking_1.bag -o myvideo.mp4 81 | ``` 82 | 83 | ### **ROS 2** 84 | 85 | ```bash 86 | docker run -it --rm \ 87 | --name rosbag2video_c \ 88 | -v ./:/rosbag2video_workspace \ 89 | rosbag2video:humble bash 90 | ``` 91 | 92 | ```bash 93 | source /opt/ros/humble/setup.bash 94 | ``` 95 | 96 | ```bash 97 | python3 rosbag2video.py -t -i -o 98 | # Eg. python3 rosbag2video.py -t /cam0/image_raw -i rosbag2_2024_10_11-19_45_28 -o myvideo.mp4 99 | ``` 100 | -------------------------------------------------------------------------------- /rosbag2video.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | """ 3 | Module to generate video output given ROS 2 bag folders via direct 4 | sqlite3 extraction from .db3 files and metadata.yaml 5 | """ 6 | # -*- coding: utf-8 -*- 7 | # 8 | # Copyright (c) 2024 Bey Hao Yun. 9 | # 10 | # This program is free software: you can redistribute it and/or modify 11 | # it under the terms of the GNU General Public License as published by 12 | # the Free Software Foundation, version 3. 13 | # 14 | # This program is distributed in the hope that it will be useful, but 15 | # WITHOUT ANY WARRANTY; without even the implied warranty of 16 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 17 | # General Public License for more details. 18 | # 19 | # You should have received a copy of the GNU General Public License 20 | # along with this program. If not, see . 21 | 22 | import os 23 | import sys 24 | import subprocess 25 | import argparse 26 | import shutil 27 | from pathlib import Path 28 | from typing import Tuple 29 | 30 | import cv2 31 | from cv_bridge import CvBridge 32 | from rosbags.highlevel import AnyReader 33 | from rosbags.interfaces import Connection 34 | 35 | 36 | IS_VERBOSE = False 37 | 38 | 39 | def get_pix_fmt(msg_encoding: str) -> str: 40 | """ 41 | Determine pixel format based on message encoding. 42 | 43 | Args: 44 | msg_encoding (str): The encoding of the message. 45 | 46 | Returns: 47 | str: The determined pixel format. 48 | 49 | Notes: 50 | This function attempts to infer the correct pixel format from a given 51 | message encoding. It supports various formats, including gray, bgra, 52 | and RGB variants. If an unsupported encoding is provided, it defaults 53 | to yuv420p or prints warnings accordingly. 54 | 55 | Raises: 56 | AttributeError: If msg_encoding cannot be handled. 57 | """ 58 | pix_fmt = "yuv420p" 59 | 60 | if IS_VERBOSE: 61 | print("[INFO] - AJB: Encoding:", msg_encoding) 62 | 63 | try: 64 | if msg_encoding.find("mono8") != -1: 65 | pix_fmt = "gray" 66 | elif msg_encoding.find("8UC1") != -1: 67 | pix_fmt = "gray" 68 | elif msg_encoding.find("bgra") != -1: 69 | pix_fmt = "bgra" 70 | elif msg_encoding.find("bgr8") != -1: 71 | pix_fmt = "bgr24" 72 | elif msg_encoding.find("bggr8") != -1: 73 | pix_fmt = "bayer_bggr8" 74 | elif msg_encoding.find("rggb8") != -1: 75 | pix_fmt = "bayer_rggb8" 76 | elif msg_encoding.find("rgb8") != -1: 77 | pix_fmt = "rgb24" 78 | elif msg_encoding.find("16UC1") != -1: 79 | pix_fmt = "gray16le" 80 | else: 81 | print(f"[WARN] - Unsupported encoding: {msg_encoding}. " 82 | "Defaulting pix_fmt to {pix_fmt}...") 83 | except AttributeError: 84 | # Maybe this is a theora packet which is unsupported. 85 | print( 86 | "[ERROR] - Could not handle this format." 87 | + " Maybe thoera packet? theora is not supported." 88 | ) 89 | sys.exit(1) 90 | if IS_VERBOSE: 91 | print("[INFO] - pix_fmt:", pix_fmt) 92 | return pix_fmt 93 | 94 | 95 | def get_topic_info(reader: AnyReader, topic_name: str) -> Tuple[int, str, int]: 96 | """Return (message_count, msg_type, connection) for *topic_name*.""" 97 | conn = next((c for c in reader.connections if c.topic == topic_name), None) 98 | if conn is None: 99 | sys.exit(f"[ERROR] - Topic '{topic_name}' not found in bag.") 100 | return conn.msgcount, conn.msgtype, conn 101 | 102 | 103 | def get_msg_format_from_rosbag(reader: AnyReader, connection: Connection) -> str: 104 | """Peek at first message to derive ``msg.format``/``msg.encoding``.""" 105 | try: 106 | _, _, raw = next(reader.messages(connections=[connection])) 107 | except StopIteration: 108 | return "" 109 | msg = reader.deserialize(raw, connection.msgtype) 110 | return getattr(msg, "format", getattr(msg, "encoding", "")) 111 | 112 | 113 | def save_image_from_rosbag( 114 | cvbridge: CvBridge, 115 | reader: AnyReader, 116 | connection: Connection, 117 | input_msg_type: str, 118 | message_index: int = 0, 119 | ) -> None: 120 | """ 121 | Save an image from a ROS bag. 122 | 123 | Args: 124 | cvbridge: CvBridge instance for converting between OpenCV and ROS images. 125 | reader: Rosbag reader. 126 | connection: connection containing the image messages. 127 | input_msg_type: The type of message in the topic, e.g. "sensor_msgs/msg/Image". 128 | message_index (optional): The index of the message to save. Defaults to 0. 129 | 130 | Returns: 131 | None 132 | 133 | Raises: 134 | Exception: If an error occurs during image conversion or saving. 135 | 136 | Notes: 137 | This function queries a ROS 2 database for messages in a specified topic, 138 | deserializes them into OpenCV images, and saves them as PNG files. 139 | """ 140 | for i, (conn, ts, raw) in enumerate(reader.messages(connections=[connection])): 141 | if i != message_index: 142 | continue 143 | msg = reader.deserialize(raw, connection.msgtype) 144 | image_file_type = ".jpg" if getattr(msg, "format", "").lower() == "jpeg" else ".png" 145 | 146 | if input_msg_type.endswith("CompressedImage"): 147 | cv_image = cvbridge.compressed_imgmsg_to_cv2(msg, desired_encoding="passthrough") 148 | else: 149 | cv_image = cvbridge.imgmsg_to_cv2(msg, desired_encoding="passthrough") 150 | 151 | padded_number = f"{message_index:07d}" 152 | output_filename = f"frames/{padded_number}{image_file_type}" 153 | cv2.imwrite(output_filename, cv_image) 154 | break 155 | else: 156 | print(f"[ERROR] - No message at index {message_index} for topic {conn.topic}") 157 | 158 | 159 | def check_and_create_folder(folder_path: str) -> None: 160 | """ 161 | Check if a directory exists and create it if not. 162 | 163 | Args: 164 | folder_path: The path of the directory to be checked or created. 165 | 166 | Returns: 167 | None 168 | 169 | Notes: 170 | This function attempts to ensure that the specified directory is present. 171 | If it does not exist, an attempt is made to create it. Any errors during 172 | creation are logged and reported. 173 | 174 | Raises: 175 | OSError: If there's a problem creating the folder. 176 | """ 177 | if not os.path.exists(folder_path): 178 | try: 179 | os.makedirs(folder_path) 180 | if IS_VERBOSE: 181 | print(f"[INFO] - Folder '{folder_path}' created successfully.") 182 | except OSError as e: 183 | print(f"[ERROR] - Failed to create folder '{folder_path}'. {e}") 184 | 185 | 186 | def clear_folder_if_non_empty(folder_path: str) -> bool: 187 | """ 188 | Check if a folder is non-empty. If it is, remove all its contents. 189 | 190 | Parameters: 191 | folder_path: The path of the folder to check and clear. 192 | 193 | Returns: 194 | True if the folder was cleared, False if it was already empty. 195 | """ 196 | # Check if the folder exists 197 | if not os.path.exists(folder_path): 198 | if IS_VERBOSE: 199 | print(f"[WARN] - The folder '{folder_path}' does not exist.") 200 | return False 201 | 202 | # List all files and directories in the folder 203 | contents = os.listdir(folder_path) 204 | if contents: 205 | for item in contents: 206 | item_path = os.path.join(folder_path, item) 207 | if os.path.isfile(item_path): 208 | os.remove(item_path) # Remove files 209 | else: 210 | shutil.rmtree(item_path) # Remove directories 211 | if IS_VERBOSE: 212 | print(f"[INFO] - Cleared all contents from '{folder_path}'...") 213 | return True 214 | if IS_VERBOSE: 215 | print(f"[INFO] - The folder '{folder_path}' is already empty.") 216 | return False 217 | 218 | 219 | def create_video_from_images(image_folder: str, output_video: str, pix_fmt: str, framerate: int = 30): 220 | """ 221 | Creates a video from a list of images in the specified folder. 222 | 223 | Args: 224 | image_folder: The path to the folder containing the images. 225 | output_video: The desired file name for the generated video. 226 | pix_fmt: ffmpeg pixel format. 227 | framerate (optional): The frame rate of the resulting video. Defaults to 30. 228 | 229 | Returns: 230 | True if the operation was successful, False otherwise. 231 | """ 232 | images = sorted( 233 | [img for img in os.listdir(image_folder) if img.endswith((".png", ".jpg", ".jpeg"))], 234 | key=lambda x: int(os.path.splitext(x)[0]), # Sort by the numeric part of the filename 235 | ) 236 | if not images: 237 | print("[WARN] - No images found in the specified folder.") 238 | return False 239 | 240 | # Create a temporary text file listing all images 241 | image_list_file = os.path.join(image_folder, "_images.txt") 242 | with open(image_list_file, "w", encoding="utf-8") as f: 243 | for path in images: 244 | f.write(f"file '{path}'\n") 245 | 246 | # Build the ffmpeg command 247 | command = [ 248 | "ffmpeg", 249 | "-loglevel", 250 | "error" if not IS_VERBOSE else "info", 251 | "-stats", 252 | "-r", 253 | str(framerate), # Set frame rate 254 | "-f", 255 | "concat", 256 | "-safe", 257 | "0", 258 | "-i", 259 | image_list_file, # Input list of images 260 | "-c:v", 261 | "libx264", 262 | "-pix_fmt", 263 | pix_fmt, 264 | output_video, 265 | "-y", 266 | ] 267 | 268 | if IS_VERBOSE: 269 | print("[INFO] -", " ".join(command)) 270 | try: 271 | subprocess.run(command, check=True) 272 | print(f"[INFO] - Video written to {output_video}.") 273 | os.remove(image_list_file) 274 | return True 275 | except subprocess.CalledProcessError as e: 276 | print(f"[ERROR] - Error occurred: {e}") 277 | os.remove(image_list_file) 278 | return False 279 | 280 | 281 | def create_video_from_jpg( 282 | reader: AnyReader, 283 | connection: Connection, 284 | output_video: str, 285 | fps: float, 286 | max_frames: int = -1, 287 | ): 288 | """ 289 | Save an video from a ROS bag with jpg compressed images into a mjpeg video file. 290 | 291 | Args: 292 | reader: Rosbag reader. 293 | connection: Connection containing the image messages. 294 | output_video: Output video filepath. 295 | fps: The desired video framerate. 296 | max_frames (int, optional): stops export after this number of frames. 297 | 298 | Returns: 299 | None 300 | 301 | Raises: 302 | 303 | 304 | Notes: 305 | 306 | """ 307 | cmd = [ 308 | "ffmpeg", 309 | "-loglevel", 310 | "error" if not IS_VERBOSE else "info", 311 | "-stats", 312 | "-r", 313 | str(fps), 314 | "-f", 315 | "mjpeg", 316 | "-i", 317 | "-", # stdin 318 | "-c:v", 319 | "copy", 320 | "-an", 321 | output_video, 322 | "-y", 323 | ] 324 | if IS_VERBOSE: 325 | print("[INFO] -", " ".join(cmd)) 326 | 327 | ffmpeg = subprocess.Popen(cmd, stdin=subprocess.PIPE) 328 | 329 | for i, (conn, ts, raw) in enumerate(reader.messages(connections=[connection])): 330 | if 0 < max_frames <= i: 331 | break 332 | ffmpeg.stdin.write(raw) # raw is already JPEG bytes 333 | if IS_VERBOSE: 334 | print(f"[INFO] - Streaming frame {i+1}", end="\r") 335 | ffmpeg.stdin.close() 336 | ffmpeg.wait() 337 | print(f"[INFO] - Video written to {output_video}.") 338 | 339 | 340 | if __name__ == "__main__": 341 | # Parse commandline input arguments. 342 | parser = argparse.ArgumentParser( 343 | prog="rosbag2video", 344 | description="Convert ROS bag (1/2) to video using ffmpeg.", 345 | ) 346 | parser.add_argument("-v", "--verbose", action="store_true", required=False, default=False, 347 | help="Run rosbag2video script in verbose mode.") 348 | parser.add_argument("-r", "--rate", type=int, required=False, default=30, 349 | help="Video framerate") 350 | parser.add_argument("-t", "--topic", type=str, required=True, 351 | help="Topic Name") 352 | parser.add_argument("-i", "--ifile", type=str, required=True, 353 | help="Input File") 354 | parser.add_argument("-o", "--ofile", type=str, required=False, default="output_video.mp4", 355 | help="Output File") 356 | parser.add_argument("--save_images", action="store_true", required=False, default=False, 357 | help="Boolean flag for saving extracted .png frames in frames/") 358 | parser.add_argument("--frames", type=int, required=False, default=-1, 359 | help="Limit the number of frames to export") 360 | args = parser.parse_args(sys.argv[1:]) 361 | 362 | IS_VERBOSE = args.verbose 363 | 364 | # Check if input fps is valid. 365 | if args.rate <= 0: 366 | print(f"[WARN] - Invalid rate {args.rate}; using 30 FPS.") 367 | args.rate = 30 368 | 369 | # Check if bag exists 370 | bag_path = Path(args.ifile).expanduser().resolve() 371 | if not bag_path.exists(): 372 | sys.exit(f"[ERROR] - Path '{bag_path}' does not exist.") 373 | 374 | # Process the bag 375 | with AnyReader([bag_path]) as reader: 376 | message_count, msg_type, conn = get_topic_info(reader, args.topic) 377 | 378 | msg_encoding = get_msg_format_from_rosbag(reader, conn) 379 | if ( 380 | msg_type.endswith("CompressedImage") 381 | and not args.save_images 382 | and msg_encoding == "jpeg" 383 | ): 384 | # we can directly feed the jpg data to ffmpeg to create the video 385 | create_video_from_jpg(reader, conn, args.ofile, args.rate, args.frames) 386 | exit(0) 387 | 388 | # else do the image export stuff - extract frames, then ffmpeg concat 389 | FRAMES_FOLDER = "frames" 390 | check_and_create_folder(FRAMES_FOLDER) 391 | clear_folder_if_non_empty(FRAMES_FOLDER) 392 | 393 | bridge = CvBridge() 394 | for i in range(message_count if args.frames < 0 else min(message_count, args.frames)): 395 | save_image_from_rosbag(bridge, reader, conn, msg_type, i) 396 | print(f"[INFO] - Extracting [{i+1}/{message_count}] …", end="\r") 397 | sys.stdout.flush() 398 | 399 | # Construct video from image sequence 400 | pix_fmt = get_pix_fmt(msg_encoding) 401 | if not create_video_from_images(FRAMES_FOLDER, args.ofile, pix_fmt, framerate=args.rate): 402 | print("[ERROR] - Could not generate video.") 403 | 404 | # Keep or remove frames folder content based on --save-images flag. 405 | if not args.save_images: 406 | clear_folder_if_non_empty(FRAMES_FOLDER) 407 | --------------------------------------------------------------------------------