def rosbag_info(bag):
warnings.warn('remove, use the other version')
stdout = subprocess.Popen(['rosbag', 'info', '--yaml', bag],
stdout=subprocess.PIPE).communicate()[0]
try:
info_dict = yaml.load(stdout)
except:
logger.error('Could not parse yaml:\n%s' % indent(stdout, '| '))
raise
return info_dict
def safe_pickle_dump(value, filename, protocol=pickle.HIGHEST_PROTOCOL, **safe_write_options):
from procgraph import logger
with safe_write(filename, **safe_write_options) as f:
try:
pickle.dump(value, f, protocol)
except Exception:
msg = 'Cannot pickle object of class %s' % describe_type(value)
logger.error(msg)
msg = find_pickling_error(value, protocol)
logger.error(msg)
raise
def safe_pickle_dump(value,
filename,
protocol=pickle.HIGHEST_PROTOCOL,
**safe_write_options):
from procgraph import logger
with safe_write(filename, **safe_write_options) as f:
try:
pickle.dump(value, f, protocol)
except Exception:
msg = 'Cannot pickle object of class %s' % describe_type(value)
logger.error(msg)
msg = find_pickling_error(value, protocol)
logger.error(msg)
raise
def user_error(string):
fmt = lambda x: prefix + colored(x, **color_user_error)
logger.error(fmt(string))
def user_error(string):
fmt = lambda x: prefix + colored(x, **color_user_error)
logger.error(fmt(string))
You need the `rospy` package to be installed.
.. _pytables: http://pytables.org
.. _ROS: http://www.ros.org
'''
procgraph_info = {
# List of python packages
'requires': ['ros', 'rosbag_utils']
}
# Smart dependency importing
from procgraph import import_magic, import_succesful, logger
rosbag = import_magic(__name__, 'ros', 'rosbag')
rosbag_utils = import_magic(__name__, 'rosbag_utils')
if import_succesful(rosbag_utils):
from .bagread import BagRead
from .bagwrite import BagWrite
from .conversions import *
else:
logger.error('Could not import rosbag_utils; install from [email protected]:AndreaCensi/ros_node_utils.git')
from procgraph import pg_add_this_package_models
pg_add_this_package_models(__file__, __package__)
You need the `rospy` package to be installed.
.. _pytables: http://pytables.org
.. _ROS: http://www.ros.org
'''
procgraph_info = {
# List of python packages
'requires': ['ros', 'rosbag_utils']
}
# Smart dependency importing
from procgraph import import_magic, import_succesful, logger
rosbag = import_magic(__name__, 'ros', 'rosbag')
rosbag_utils = import_magic(__name__, 'rosbag_utils')
if import_succesful(rosbag_utils):
from .bagread import BagRead
from .bagwrite import BagWrite
from .conversions import *
else:
msg = 'Could not import rosbag_utils; install from [email protected]:AndreaCensi/ros_node_utils.git'
logger.error(msg)
from procgraph import pg_add_this_package_models
pg_add_this_package_models(__file__, __package__)
def pg_video_convert(filename,
out,
quiet=True,
container=None,
vcodec=None,
vcodec_params={},
timestamp=None,
metadata={}):
"""
Converts a video file (e.g. an AVI) to another format.
container: one of "mkv", "mp4", "mov"
vcodec : vcodec params with defaults
'prores': profile=3, qv=None
'x264': crf=18, preset='medium'
It makes sure to write information to preserve timestamp
and the given metadata.
One can then be guaranteed to access this data using
the pg_info_video() function.
"""
logger.info('pg_video_convert:\n<- %s\n-> %s' % (filename, out))
if container is None:
container = guess_container(out)
assert container in CONTAINERS
if vcodec is None:
vcodec, vcodec_params = guess_vcodec(container)
logger.info('container: %s' % container)
logger.info('vcodec: %s' % vcodec)
logger.info('vcodec_params: %s' % vcodec_params)
no_audio = True
cmds = ['ffmpeg']
# For using aac out
# cmds += ['-strict', '-2']
cmds += ['-y']
cmds += ['-i', filename]
if no_audio:
cmds += ['-an']
cmds += VCODECS[vcodec](**vcodec_params)
info = pg_video_info(filename, intolerant=False)
info['metadata'].update(metadata)
if timestamp is None:
timestamp = info['timestamp']
else:
timestamp = float(timestamp)
cmds += get_ffmpeg_metadata_args(metadata, timestamp)
# cmds += ['-f', container]
if container == CONTAINER_MP4:
out1 = out + '.firstpass.mp4'
cmds += [out1]
else:
out1 = out
cmds += [out1]
try:
system_cmd_result('.', cmds,
display_stdout=not quiet,
display_stderr=not quiet,
raise_on_error=True,
capture_keyboard_interrupt=False)
except CmdException:
if os.path.exists(out1):
os.unlink(out1)
raise
assert os.path.exists(out1)
if container == CONTAINER_MP4:
do_quickstart(out1, out)
os.remove(out1)
# warnings.warn("Not sure why quickstart does not work.")
# os.rename(out1, out)
else:
assert out1 == out
if not os.path.exists(out):
logger.error('Something is wrong, path does not exist.\nPath: %s' % out)
if not supports_full_metadata(container):
write_extra_metadata_for(out, metadata)
