A simple tool to record ROS2 Depth topics to MP4.
Project description
rosdepth2mp4
A simple tool to record ROS2 Image topics to mp4v, MP4V, MP4S, DIV3, DIVX, IYUV, MJPG, XVID. https://github.com/PINTO0309/simple-ros2-processing-tools
1. Install ROS2
DISTRO=humble
sudo apt update && sudo apt install -y locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
-o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
sudo apt install -y \
ros-${DISTRO}-rosbag2 \
ros-${DISTRO}-vision-opencv \
ros-${DISTRO}-vision-msgs \
ros-${DISTRO}-image-pipeline
2. Install rosdepth2mp4
pip install rosdepth2mp4
3. Usage
usage: rosdepth2mp4 [-h]
[-i DEPTH_TOPIC_NAME]
[-o OUTPUT_FILE_NAME]
[-cd {mp4v,MP4V,DIV3,DIVX,IYUV,MJPG,XVID}]
[-de {16UC1,32FC1}]
[-ct {COLORMAP_JET,COLORMAP_HSV,COLORMAP_HOT,RAW}]
[-fs FRAME_SIZE FRAME_SIZE]
[-vf VIDEO_WRITER_FPS]
options:
-h, --help
show this help message and exit
-i DEPTH_TOPIC_NAME, --depth_topic_name DEPTH_TOPIC_NAME
Depth topic name.
e.g.
Realsense D435: /camera/aligned_depth_to_color/image_raw
ZED2i: /zed2i/zed_node/depth/depth_registered
-o OUTPUT_FILE_NAME, --output_file_name OUTPUT_FILE_NAME
Output file name. e.g. output.mp4
-cd {mp4v,MP4V,DIV3,DIVX,IYUV,MJPG,XVID}, \
--output_codec_type {mp4v,MP4V,DIV3,DIVX,IYUV,MJPG,XVID}
CODEC type. e.g. mp4v, MP4V, MP4S, DIV3, DIVX, IYUV, MJPG, XVID, H263
-de {16UC1,32FC1}, --depth_encoding_type {16UC1,32FC1}
Depth encoding type.
e.g.
Realsense D435: 16UC1, ZED2i: 32FC1
-ct {COLORMAP_JET,COLORMAP_HSV,COLORMAP_HOT,RAW}, \
--colormap_type {COLORMAP_JET,COLORMAP_HSV,COLORMAP_HOT,RAW}
COLORMAP type.
-fs FRAME_SIZE FRAME_SIZE, --frame_size FRAME_SIZE FRAME_SIZE
Frame size.
e.g.
--frame-size {Width} {Height}
-vf VIDEO_WRITER_FPS, --video_writer_fps VIDEO_WRITER_FPS
Video writer FPS.
-
ZED2i - RAW mode
https://github.com/PINTO0309/rosdepth2mp4/assets/33194443/223291e2-2899-47fe-bd71-800cda8dd073
-
ZED2i - JET mode
https://github.com/PINTO0309/rosdepth2mp4/assets/33194443/82b235d3-b298-48d5-b30a-f2536fd2fcff
-
Realsense D435 - RAW mode
https://github.com/PINTO0309/rosdepth2mp4/assets/33194443/861576fd-aa63-4a16-afff-7a0473eff50d
-
Realsense D435 - JET mode
https://github.com/PINTO0309/rosdepth2mp4/assets/33194443/7bedd611-822c-4971-85c3-84fb9cdf33b5
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