make_video.py
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00001 #!/usr/bin/python
00002 """
00003 Copyright (c) 2012,
00004 Systems, Robotics and Vision Group
00005 University of the Balearican Islands
00006 All rights reserved.
00007 
00008 Redistribution and use in source and binary forms, with or without
00009 modification, are permitted provided that the following conditions are met:
00010     * Redistributions of source code must retain the above copyright
00011       notice, this list of conditions and the following disclaimer.
00012     * Redistributions in binary form must reproduce the above copyright
00013       notice, this list of conditions and the following disclaimer in the
00014       documentation and/or other materials provided with the distribution.
00015     * Neither the name of Systems, Robotics and Vision Group, University of 
00016       the Balearican Islands nor the names of its contributors may be used to 
00017       endorse or promote products derived from this software without specific 
00018       prior written permission.
00019 
00020 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00021 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00022 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00023 DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
00024 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00025 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00026 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00027 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00028 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00029 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00030 """
00031 
00032 
00033 PKG = 'bag_tools' # this package name
00034 
00035 import roslib; roslib.load_manifest(PKG)
00036 
00037 import tempfile
00038 import subprocess
00039 import glob
00040 import shutil
00041 
00042 def create_video(tmp_dir, args):
00043   print "Using {} as working directory.".format(tmp_dir)
00044   print "Extracting images..."
00045 
00046   cmd = ["rosrun", "bag_tools", "extract_images" , tmp_dir, "jpg", args.topic] + args.inbag
00047   print "    {}".format(' '.join(cmd))
00048   subprocess.call(cmd)
00049   
00050   print "Renaming..."
00051   images = glob.glob(tmp_dir + '/*.jpg')
00052   images.sort()
00053   i = 1
00054   for image in images:
00055     shutil.move(image, tmp_dir + '/img-' + str(i) + '.jpg')
00056     i = i + 1
00057 
00058   print "Creating video..."
00059   cmd = ["ffmpeg", "-f", "image2", "-r", str(args.fps), "-i", tmp_dir + "/img-%d.jpg", "-sameq", args.output]
00060   print "    {}".format(' '.join(cmd))
00061   subprocess.call(cmd)
00062 
00063 
00064 if __name__ == "__main__":
00065   import argparse
00066   parser = argparse.ArgumentParser(
00067       description=
00068         'Creates a video from sensor_msgs/Image messages from a bagfile. '
00069         'This script uses the extract_images binary to extract color images '
00070         'from bagfiles and calls ffmpeg afterwards to combine them together '
00071         'to form a video. Note that ffmpeg must be installed on your system.')
00072   parser.add_argument('topic', help='topic of the images to use')
00073   parser.add_argument('--output', help='name of the output video. Note that the file ending defines the codec to use.', default='video.mp4')
00074   parser.add_argument('--fps', help='frames per second in the output video, as long as codec supports this', type=int, default=20)
00075   parser.add_argument('inbag', help='input bagfile(s)', nargs='+')
00076   args = parser.parse_args()
00077   tmp_dir = tempfile.mkdtemp()
00078   try:
00079     create_video(tmp_dir, args)
00080   except Exception, e:
00081     import traceback
00082     traceback.print_exc()
00083   print "Cleaning up temp files..."
00084   shutil.rmtree(tmp_dir)


bag_tools
Author(s): Stephan Wirth , Miquel Massot
autogenerated on Mon Oct 6 2014 07:48:00