diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..1aa199d --- /dev/null +++ b/.clang-format @@ -0,0 +1,20 @@ +--- +Language: Cpp +BasedOnStyle: Google + +AccessModifierOffset: -2 +AlignAfterOpenBracket: AlwaysBreak +BraceWrapping: + AfterClass: true + AfterFunction: true + AfterNamespace: true + AfterStruct: true +BreakBeforeBraces: Custom +ColumnLimit: 100 +ConstructorInitializerIndentWidth: 0 +ContinuationIndentWidth: 2 +DerivePointerAlignment: false +PointerAlignment: Middle +ReflowComments: false +... + diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml new file mode 100644 index 0000000..819e9d8 --- /dev/null +++ b/.github/workflows/ci.yaml @@ -0,0 +1,19 @@ +# +# continuous integration workflow +# +name: build repo + +on: + push: + branches: [master] + pull_request: + branches: [master] + workflow_dispatch: + branches: [master] + +jobs: + build_ros2: + uses: ros-misc-utilities/ros_build_scripts/.github/workflows/ros2_recent_ci.yml@master + with: + repo: ${{ github.event.repository.name }} + vcs_url: https://raw.githubusercontent.com/${{ github.repository }}/master/${{ github.event.repository.name }}.repos \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..f5cc3da --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,72 @@ +# +# Copyright 2024 Bernd Pfrommer +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +cmake_minimum_required(VERSION 3.22) +project(ffmpeg_image_transport_tools) + + +# for finding libav +list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake") + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(ament_cmake_ros REQUIRED) + +set(ament_dependencies + "rclcpp" + "rosbag2_cpp" + "cv_bridge" + "ffmpeg_image_transport_msgs" + "ffmpeg_image_transport" + "sensor_msgs") + +foreach(pkg ${ament_dependencies}) + find_package(${pkg} REQUIRED) +endforeach() + + +# +# -------- bag_to_file +# +add_executable(bag_to_file src/bag_to_file.cpp) +ament_target_dependencies(bag_to_file ${ament_dependencies}) +target_compile_features(bag_to_file PRIVATE cxx_std_17) + +install(TARGETS + bag_to_file + DESTINATION lib/${PROJECT_NAME}/) + +if(BUILD_TESTING) + find_package(ament_cmake REQUIRED) + find_package(ament_cmake_copyright REQUIRED) + find_package(ament_cmake_cppcheck REQUIRED) + find_package(ament_cmake_cpplint REQUIRED) + find_package(ament_cmake_clang_format REQUIRED) +# find_package(ament_cmake_flake8 REQUIRED) + find_package(ament_cmake_lint_cmake REQUIRED) +# find_package(ament_cmake_pep257 REQUIRED) + find_package(ament_cmake_xmllint REQUIRED) + + ament_copyright() + ament_cppcheck(LANGUAGE c++) + ament_cpplint(FILTERS "-build/include,-runtime/indentation_namespace") + ament_clang_format(CONFIG_FILE .clang-format) +# ament_flake8() + ament_lint_cmake() +# ament_pep257() + ament_xmllint() +endif() + +ament_package() diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000..cfba094 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,18 @@ +Any contribution that you make to this repository will +be under the Apache 2 License, as dictated by that +[license](http://www.apache.org/licenses/LICENSE-2.0.html): + +~~~ +5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. +~~~ + +Contributors must sign-off each commit by adding a `Signed-off-by: ...` +line to commit messages to certify that they have the right to submit +the code they are contributing to the project according to the +[Developer Certificate of Origin (DCO)](https://developercertificate.org/). diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. For the purposes of this definition, + "control" means (i) the power, direct or indirect, to cause the + direction or management of such entity, whether by contract or + otherwise, or (ii) ownership of fifty percent (50%) or more of the + outstanding shares, or (iii) beneficial ownership of such entity. + + "You" (or "Your") shall mean an individual or Legal Entity + exercising permissions granted by this License. + + "Source" form shall mean the preferred form for making modifications, + including but not limited to software source code, documentation + source, and configuration files. + + "Object" form shall mean any form resulting from mechanical + transformation or translation of a Source form, including but + not limited to compiled object code, generated documentation, + and conversions to other media types. + + "Work" shall mean the work of authorship, whether in Source or + Object form, made available under the License, as indicated by a + copyright notice that is included in or attached to the work + (an example is provided in the Appendix below). + + "Derivative Works" shall mean any work, whether in Source or Object + form, that is based on (or derived from) the Work and for which the + editorial revisions, annotations, elaborations, or other modifications + represent, as a whole, an original work of authorship. For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. For the purposes of this definition, "submitted" + means any form of electronic, verbal, or written communication sent + to the Licensor or its representatives, including but not limited to + communication on electronic mailing lists, source code control systems, + and issue tracking systems that are managed by, or on behalf of, the + Licensor for the purpose of discussing and improving the Work, but + excluding communication that is conspicuously marked or otherwise + designated in writing by the copyright owner as "Not a Contribution." + + "Contributor" shall mean Licensor and any individual or Legal Entity + on behalf of whom a Contribution has been received by Licensor and + subsequently incorporated within the Work. + + 2. Grant of Copyright License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + copyright license to reproduce, prepare Derivative Works of, + publicly display, publicly perform, sublicense, and distribute the + Work and such Derivative Works in Source or Object form. + + 3. Grant of Patent License. Subject to the terms and conditions of + this License, each Contributor hereby grants to You a perpetual, + worldwide, non-exclusive, no-charge, royalty-free, irrevocable + (except as stated in this section) patent license to make, have made, + use, offer to sell, sell, import, and otherwise transfer the Work, + where such license applies only to those patent claims licensable + by such Contributor that are necessarily infringed by their + Contribution(s) alone or by combination of their Contribution(s) + with the Work to which such Contribution(s) was submitted. If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + PARTICULAR PURPOSE. You are solely responsible for determining the + appropriateness of using or redistributing the Work and assume any + risks associated with Your exercise of permissions under this License. + + 8. Limitation of Liability. In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS + + APPENDIX: How to apply the Apache License to your work. + + To apply the Apache License to your work, attach the following + boilerplate notice, with the fields enclosed by brackets "[]" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md new file mode 100644 index 0000000..ed5c5ff --- /dev/null +++ b/README.md @@ -0,0 +1,49 @@ +# Tools for the ffmpeg\_image\_transport + +This repository hosts code for handling data streams produced by the [ffmpeg_image_transport](https://github.com/ros-misc-utilities/ffmpeg_image_transport.git). + +## Supported platforms + +Should run on ROS2 distributions Humble and later. + +## How to install + +### From packages + +```bash +sudo apt-get install ros-${ROS_DISTRO}-ffmpeg-image-transport-tools +``` + +### From source + +Set the following shell variables: +```bash +repo=ffmpeg_image_transport_tools +url=https://github.com/ros-misc-utilities/${repo}.git +``` +and follow the [instructions here](https://github.com/ros-misc-utilities/.github/blob/master/docs/build_ros_repository.md) + +## Processing rosbags + +### Extract an mp4 file from a rosbag +The ``bag_to_file`` merges the ffmpeg-generated packets from a rosbag into a file: +``` +bag_to_file -b input_bag -t topic -r rate [-o out_file] [-T timestamp_file] [-s start_time] [-e end_time] +``` +For example the following line produces a file ``video.mp4`` and ``timestamps.txt`` from a rosbag: + +``` +ros2 run ffmpeg_image_transport_tools bag_to_file -t /cam1/image_raw/ffmpeg -r 40 -b ./my_rosbag/ -e 1710085164.466 +``` +The ``end_time`` is given in seconds since the epoch. +The ``timestamp.txt`` file has the following entries: +``` +# packet, header_stamp recording_stamp +0 1710085154473057750 1710085156001866724 +1 1710085155950467594 1710085156024209913 +``` +A H264 packet corresponds to a frame so the packet number corresponds to frame number. + +## License + +This software is issued under the Apache License Version 2.0. diff --git a/cmake/FindLIBAV.cmake b/cmake/FindLIBAV.cmake new file mode 100644 index 0000000..ab08adc --- /dev/null +++ b/cmake/FindLIBAV.cmake @@ -0,0 +1,30 @@ +# +# Copyright 2024 Bernd Pfrommer +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# found here: +# https://github.com/ament/ament_cmake/issues/504 +# +# Reference https://stackoverflow.com/questions/71531333/how-set-cmake-to-find-a-local-package-ffmpeg + +find_package(PkgConfig REQUIRED) +pkg_check_modules(LIBAV IMPORTED_TARGET + libavdevice + libavfilter + libavformat + libavcodec + libswresample + libswscale + libavutil +) diff --git a/ffmpeg_image_transport_tools.repos b/ffmpeg_image_transport_tools.repos new file mode 100644 index 0000000..c7f30c3 --- /dev/null +++ b/ffmpeg_image_transport_tools.repos @@ -0,0 +1,9 @@ +repositories: + src/ffmpeg_image_transport: + type: git + url: https://github.com/ros-misc-utilities/ffmpeg_image_transport.git + version: master + src/ffmpeg_image_transport_msgs: + type: git + url: https://github.com/ros-misc-utilities/ffmpeg_image_transport_msgs.git + version: master diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..271ea48 --- /dev/null +++ b/package.xml @@ -0,0 +1,23 @@ + + + + ffmpeg_image_transport_tools + 1.0.0 + tools for processing ffmpeg_image_transport_msgs + Bernd Pfrommer + Apache-2 + + ament_cmake + ament_cmake_auto + + ament_lint_auto + ament_lint_common + + rosbag2_transport + ffmpeg_image_transport + ffmpeg_image_transport_msgs + + + ament_cmake + + diff --git a/src/bag_to_file.cpp b/src/bag_to_file.cpp new file mode 100644 index 0000000..b2cab3e --- /dev/null +++ b/src/bag_to_file.cpp @@ -0,0 +1,181 @@ +// -*-c++-*-------------------------------------------------------------------- +// Copyright 2024 Bernd Pfrommer +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +void usage() +{ + std::cout << "usage:" << std::endl; + std::cout << "bag_to_file -b input_bag -t topic -r rate [-o out_file] " + << "[-T timestamp_file] [-s start_time] [-e end_time] " << std::endl; +} + +using ffmpeg_image_transport_msgs::msg::FFMPEGPacket; +using Path = std::filesystem::path; +using rclcpp::Time; +using bag_time_t = rcutils_time_point_value_t; +static rclcpp::Logger get_logger() +{ + return (rclcpp::get_logger("bag_to_file")); +} + +static void convertToMP4(const std::string & raw, const std::string & mp4, double rate) +{ + std::stringstream ss; + ss << "ffmpeg -y -r " << rate << " -i " << raw << " -c:v copy " << mp4; + int rc = std::system(ss.str().c_str()); + if (rc == -1) { + std::cerr << " error command: " << ss.str() << std::endl; + } + rc = std::system(("rm " + raw).c_str()); + if (rc == -1) { + std::cerr << " error removing file: " << raw << std::endl; + } +} + +size_t processBag( + const std::string & out_file, const std::string & bag, const std::string & topic, + const std::string & time_stamp_file, bag_time_t start_time, bag_time_t end_time) +{ + std::cout << "opening bag: " << bag << " topic: " << topic << std::endl; + rosbag2_cpp::Reader reader; + reader.open(bag); + rosbag2_storage::StorageFilter filter; + filter.topics.push_back(topic); + reader.set_filter(filter); + if (start_time != std::numeric_limits::min()) { + std::cout << "seeking for start time stamp: " << start_time << std::endl; + reader.seek(start_time); + } + rclcpp::Serialization serialization; + std::ofstream ts_file(time_stamp_file); + std::fstream raw_file; + raw_file.open(out_file, std::ios::app | std::ios::binary); + + size_t packet_number{0}; + while (reader.has_next()) { + auto msg = reader.read_next(); + if (!msg || topic != msg->topic_name) { + continue; + } + rclcpp::SerializedMessage serialized_msg(*msg->serialized_data); + FFMPEGPacket::SharedPtr m(new FFMPEGPacket()); + serialization.deserialize_message(&serialized_msg, m.get()); + raw_file.write(reinterpret_cast(m->data.data()), m->data.size()); + const auto t_header = Time(m->header.stamp).nanoseconds(); + ts_file << packet_number << " " << Time(m->header.stamp).nanoseconds() << " " + << Time(msg->time_stamp).nanoseconds() << std::endl; + if (t_header > end_time) { + break; + } + packet_number++; + } + return (packet_number); +} + +int main(int argc, char ** argv) +{ + int opt; + std::string bag; + std::string out_file = "video.mp4"; + std::string topic; + std::string time_stamp_file = "timestamps.txt"; + + bag_time_t start_time = std::numeric_limits::min(); + bag_time_t end_time = std::numeric_limits::max(); + double rate(-1); + + while ((opt = getopt(argc, argv, "b:e:o:r:s:t:h")) != -1) { + switch (opt) { + case 'b': + bag = optarg; + break; + case 'e': + end_time = static_cast(atof(optarg) * 1e9); + if (end_time < 0) { + std::cout << "end time out of range, must be in seconds since start of epoch" + << std::endl; + usage(); + return (-1); + } + break; + case 'o': + out_file = atof(optarg); + break; + case 'r': + rate = atof(optarg); + break; + case 's': + start_time = static_cast(atof(optarg) * 1e9); + if (start_time < 0) { + std::cout << "start time out of range, must be in seconds since start of epoch" + << std::endl; + usage(); + return (-1); + } + break; + case 't': + topic = optarg; + break; + case 'h': + usage(); + return (-1); + break; + default: + std::cout << "unknown option: " << opt << std::endl; + usage(); + return (-1); + break; + } + } + if (bag.empty()) { + std::cout << "missing bag file argument!" << std::endl; + usage(); + return (-1); + } + if (topic.empty()) { + std::cout << "missing topic argument!" << std::endl; + usage(); + return (-1); + } + if (rate <= 0) { + std::cout << "missing rate argument!" << std::endl; + usage(); + return (-1); + } + + const auto start = std::chrono::high_resolution_clock::now(); + const std::string raw_file = out_file + ".h264"; + size_t num_packets = processBag(raw_file, bag, topic, time_stamp_file, start_time, end_time); + convertToMP4(raw_file, out_file, rate); + const auto stop = std::chrono::high_resolution_clock::now(); + auto total_duration = std::chrono::duration_cast(stop - start); + std::cout << "packets processed: " << num_packets << std::endl; + std::cout << "total time for processing: " << total_duration.count() * 1e-6 << std::endl; + return (0); +}