feat: add rosbag viewing and converting tools

README.md

@@ -75,7 +75,7 @@ cd SDC-System-Integration
         git push -u origin <your branch>
         ```
 3. Install python dependencies
-* With Pygame for Diagnostics
+* With Pygame and MoviePy for Diagnostics and converting rosbags
     * For non-GPU Linux systems
         ```bash
         sudo -H pip install -r requirements-pygame.txt
@@ -84,7 +84,7 @@ cd SDC-System-Integration
         ```bash
         sudo -H pip install -r requirements-gpu-pygame.txt
         ```
-* Without Pygame
+* Without Pygame nor MoviePy
     * For non-GPU Linux systems
         ```bash
         pip install -r requirements.txt
@@ -130,3 +130,13 @@ rosrun tools diagScreen.py
 ```
 ![./imgs/sdc-t3-sysint-diag-screen.png](./imgs/sdc-sysint-diagnostics.gif)
 
+10. To view sample Udacity provided rosbags, convert them to MP4 or GIFS use the following:
+* __NOTE__: Requires pygame and moviepy!
+```
+cd ../tools
+python view_rosbag_video.py --dataset <rosbags>
+python rosbag_video_2_mp4.py --dataset <rosbags> <mp4 file>
+python rosbag_video_2_gif.py --dataset <rosbags> <gif file>
+```
+![./imgs/just_traffic_light.gif](./imgs/just_traffic_light.gif)
+![./imgs/loop_with_traffic_light.gif](./imgs/loop_with_traffic_light.gif)

requirements-gpu-pygame.txt

@@ -9,3 +9,4 @@ keras>=2.0.0
 tensorflow-gpu>=1.0.0
 h5py
 pygame
+moviepy

requirements-pygame.txt

@@ -9,3 +9,4 @@ keras>=2.0.0
 tensorflow>=1.0.0
 h5py
 pygame
+moviepy

tools/rosbag_video_2_gif.py

@@ -0,0 +1,70 @@
+#!/usr/bin/python
+"""
+view_rosbag_video.py: version 0.1.0
+Note:
+Part of this code was copied and modified from github.com/comma.ai/research (code: BSD License)
+
+Todo:
+Update steering angle projection.  Current version is a hack from comma.ai's version
+Update enable left, center and right camera selection.  Currently all three cameras are displayed.
+Update to enable display of trained steering data (green) as compared to actual (blue projection).
+
+History:
+2016/10/06: Update to add --skip option to skip the first X seconds of data from rosbag.
+2016/10/02: Initial version to display left, center, right cameras and steering angle.
+"""
+
+import argparse
+import sys
+import re
+import os
+import cv2
+import numpy as np
+import rosbag
+import datetime
+import serialrosbags
+from cv_bridge import CvBridge
+import moviepy.editor as mpy
+
+bridge = CvBridge()
+bags = None
+
+def make_frame(t):
+  global bridge
+  global bags
+  while bags.has_data():
+    try:
+      topic, msg, t = bags.read_messages()
+      if topic == '/image_raw':
+        return cv2.resize(bridge.imgmsg_to_cv2(msg, "rgb8"), (800, 600), interpolation=cv2.INTER_AREA)
+    except:
+      pass
+  return None
+
+# ***** main loop *****
+if __name__ == "__main__":
+  defaultOutput = 'out.gif'
+  parser = argparse.ArgumentParser(description='Udacity SDC Challenge-2 Video viewer 2')
+  parser.add_argument('--datasets', type=str, default="dataset1.bag:dataset2.bag:dataset3.bag:dataset4.bag", help='Dataset/ROS Bag name')
+  parser.add_argument('outfilename', type=str, default=defaultOutput, help='video output file')
+  args = parser.parse_args()
+  videopattern = re.compile("^.+\.gif$")
+
+  if videopattern.match(args.outfilename):
+    if os.path.exists(args.outfilename):
+      print("Video output file: %s exists.  %s" % (
+        args.outfilename, pleaseRemove))
+      sys.exit(2)
+    else:
+      videoout = args.outfilename
+      valid = True
+  else:
+    print(invalidExt % ("video", validVideoExt))
+    sys.exit(3)
+
+  datasets = args.datasets
+  bags = serialrosbags.Bags(datasets, ['/current_pose','/image_raw'])
+
+  clip = mpy.VideoClip(make_frame, duration=14)
+  clip.write_gif(videoout, fps=24)  
+

tools/rosbag_video_2_mp4.py

@@ -0,0 +1,70 @@
+#!/usr/bin/python
+"""
+view_rosbag_video.py: version 0.1.0
+Note:
+Part of this code was copied and modified from github.com/comma.ai/research (code: BSD License)
+
+Todo:
+Update steering angle projection.  Current version is a hack from comma.ai's version
+Update enable left, center and right camera selection.  Currently all three cameras are displayed.
+Update to enable display of trained steering data (green) as compared to actual (blue projection).
+
+History:
+2016/10/06: Update to add --skip option to skip the first X seconds of data from rosbag.
+2016/10/02: Initial version to display left, center, right cameras and steering angle.
+"""
+
+import argparse
+import sys
+import re
+import os
+import cv2
+import numpy as np
+import rosbag
+import datetime
+import serialrosbags
+from cv_bridge import CvBridge
+import moviepy.editor as mpy
+
+bridge = CvBridge()
+bags = None
+
+def make_frame(t):
+  global bridge
+  global bags
+  while bags.has_data():
+    try:
+      topic, msg, t = bags.read_messages()
+      if topic == '/image_raw':
+        return cv2.resize(bridge.imgmsg_to_cv2(msg, "rgb8"), (800, 600), interpolation=cv2.INTER_AREA)
+    except:
+      pass
+  return None
+
+# ***** main loop *****
+if __name__ == "__main__":
+  defaultOutput = 'out.mp4'
+  parser = argparse.ArgumentParser(description='Udacity SDC Challenge-2 Video viewer 2')
+  parser.add_argument('--datasets', type=str, default="dataset1.bag:dataset2.bag:dataset3.bag:dataset4.bag", help='Dataset/ROS Bag name')
+  parser.add_argument('outfilename', type=str, default=defaultOutput, help='video output file')
+  args = parser.parse_args()
+  videopattern = re.compile("^.+\.mp4$")
+
+  if videopattern.match(args.outfilename):
+    if os.path.exists(args.outfilename):
+      print("Video output file: %s exists.  %s" % (
+        args.outfilename, pleaseRemove))
+      sys.exit(2)
+    else:
+      videoout = args.outfilename
+      valid = True
+  else:
+    print(invalidExt % ("video", validVideoExt))
+    sys.exit(3)
+
+  datasets = args.datasets
+  bags = serialrosbags.Bags(datasets, ['/current_pose','/image_raw'])
+
+  clip = mpy.VideoClip(make_frame, duration=14)
+  clip.write_videofile(videoout, fps=24, audio=False)  
+

tools/view_rosbag_video.py

@@ -0,0 +1,88 @@
+#!/usr/bin/python
+"""
+view_rosbag_video.py: version 0.1.0
+Note:
+Part of this code was copied and modified from github.com/comma.ai/research (code: BSD License)
+
+Todo:
+Update steering angle projection.  Current version is a hack from comma.ai's version
+Update enable left, center and right camera selection.  Currently all three cameras are displayed.
+Update to enable display of trained steering data (green) as compared to actual (blue projection).
+
+History:
+2016/10/06: Update to add --skip option to skip the first X seconds of data from rosbag.
+2016/10/02: Initial version to display left, center, right cameras and steering angle.
+"""
+
+import argparse
+import sys
+import numpy as np
+import pygame
+import rosbag
+import datetime
+import cStringIO
+import serialrosbags
+from cv_bridge import CvBridge
+
+#from keras.models import model_from_json
+
+pygame.init()
+size = None
+width = None
+height = None
+screen = None
+
+# ***** main loop *****
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description='Udacity SDC Challenge-2 Video viewer 2')
+  parser.add_argument('--datasets', type=str, default="dataset1.bag:dataset2.bag:dataset3.bag:dataset4.bag", help='Dataset/ROS Bag name')
+  parser.add_argument('--skip', type=int, default="0", help='skip seconds')
+  args = parser.parse_args()
+
+  datasets = args.datasets
+  skip = args.skip
+  startsec = 0
+  angle_steers = 0.0
+  blue = (0, 0, 255)
+  green = (0, 255, 0)
+
+  bridge = CvBridge()
+  bags = serialrosbags.Bags(datasets, ['/current_pose','/image_raw'])
+
+  while bags.has_data():
+    try:
+      topic, msg, t = bags.read_messages()
+      if startsec == 0:
+        startsec = t.to_sec()
+        if skip < 24*60*60:
+          skipping = t.to_sec() + skip
+          print "skipping ", skip, " seconds from ", startsec, " to ", skipping, " ..."
+        else:
+          skipping = skip
+          print "skipping to ", skip, " from ", startsec, " ..."
+      else:
+        if t.to_sec() > skipping:
+          if topic in ['/current_pose', '/image_raw']:
+            blue = (255, 0, 0)
+            print(topic, msg.header.seq, t-msg.header.stamp, t)
+
+            if topic == '/image_raw':
+
+              height = int(msg.height)
+              width = int(msg.width)
+              if size is None:
+                size = (width, height)
+                pygame.display.set_caption("Udacity SDC ROSBAG: camera video viewer")
+                screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
+                print "size: ", size
+
+              img = bridge.imgmsg_to_cv2(msg, "rgb8")
+              sim_img = pygame.image.fromstring(img.tobytes(), size, 'RGB')
+
+              screen.blit(sim_img, (0,0))
+              pygame.display.flip()
+
+        else:
+          print "skipping ", skip, " seconds from ", t.to_sec(), " to ", skipping, " ..."
+    except:
+      pass