def look_at(log, output, anti_instagram, line_detector, image_prep,
lane_filter, all_details):
filename = get_local_bag_file(log)
bag = rosbag.Bag(filename)
vehicle_name = dtu.which_robot(bag)
dtu.logger.info('Vehicle name: %s' % vehicle_name)
gp = GroundProjection(vehicle_name)
topic = dtu.get_image_topic(bag)
res = dtu.d8n_read_all_images_from_bag(bag, topic, max_images=1)
image_cv = res[0]['rgb']
# dtu.logger.debug(dtu.describe_value(image_cv))
image_cv_bgr = dtu.bgr_from_rgb(image_cv)
dtu.DuckietownConstants.show_timeit_benchmarks = True
res, _stats = run_pipeline(image_cv_bgr,
gp=gp,
anti_instagram_name=anti_instagram,
line_detector_name=line_detector,
image_prep_name=image_prep,
lane_filter_name=lane_filter,
all_details=all_details)
res = dtu.resize_small_images(res)
dtu.write_bgr_images_as_jpgs(res, output)
def show_info(self, logs):
for id_log, log in list(logs.items()):
try:
filename = get_local_bag_file(log)
print(filename)
except NotAvailableLocally:
dtu.logger.error(f"No local file for {id_log}")
def process_one_processor(processor_name_or_spec, prefix_in, prefix_out,
bag_filename, next_bag_filename, t0_absolute,
t1_absolute, log):
dtu.DuckietownConstants.show_timeit_benchmarks = True
easy_algo_db = get_easy_algo_db()
processor = easy_algo_db.create_instance(ProcessorInterface.FAMILY,
processor_name_or_spec)
dtu.logger.info('in: bag_filename: %s' % bag_filename)
if not os.path.exists(bag_filename):
msg = 'File does not exist: %s' % bag_filename
raise ValueError(msg)
dtu.logger.info('out: next_bag_filename: %s' % next_bag_filename)
dtu.logger.info('t0_absolute: %s' % t0_absolute)
dtu.logger.info('t1_absolute: %s' % t1_absolute)
log = download_if_necessary(log)
filename = get_local_bag_file(log)
original_bag = rosbag.Bag(filename)
bag_absolute_t0_ref = original_bag.get_start_time()
original_bag.close()
dtu.d8n_make_sure_dir_exists(next_bag_filename)
out_bag = rosbag.Bag(next_bag_filename, 'w')
bag0 = rosbag.Bag(bag_filename)
t0_rel = t0_absolute - bag0.get_start_time()
t1_rel = t1_absolute - bag0.get_start_time()
in_bag = dtu.BagReadProxy(bag0,
t0_rel,
t1_rel,
bag_absolute_t0_ref=bag_absolute_t0_ref)
utils = ProcessorUtils(bag_out=out_bag, log=log)
processor.process_log(in_bag, prefix_in, out_bag, prefix_out, utils)
in_bag.close()
# also copy the other messages
in_bag1 = rosbag.Bag(bag_filename)
for topic, msg, t in in_bag1.read_messages(raw=True):
out_bag.write(topic, msg, t, raw=True)
in_bag1.close()
out_bag.close()
# r = rosbag.Bag(next_bag_filename)
# for topic, msg, t in r.read_messages(raw=True):
# pass
# r.close()
# cmd = ['rosbag', 'fix', next_bag_filename, next_bag_filename]
# dtu.system_cmd_result(cwd='.', cmd=cmd, raise_on_error=True, display_stdout=True,
# display_stderr=True)
# cmd = ['rosbag', 'reindex', next_bag_filename]
# dtu.system_cmd_result(cwd='.', cmd=cmd, raise_on_error=True, display_stdout=True,
# display_stderr=True)
return next_bag_filename
def get_logs_description_table(logs, color=True):
table = []
table.append([
"#",
"Log name",
"rc",
"description",
"bag size",
"hash bag",
"date",
"length",
"vehicle name",
"filename",
"valid",
"topics",
])
for i, (_, log) in enumerate(logs.items()):
row = []
row.append(i)
row.append(log.log_name)
row.append(len(log.resources))
# row.append(log.map_name)
row.append(log.description)
dtr = DTR.from_yaml(log.resources["bag"])
bag_size_mb = f"{dtr.size / (1024.0 * 1024):8.1f} MB"
row.append(bag_size_mb)
row.append(f"{dtr.name} {bag_size_mb} \n{dtr.hash['sha1']}")
row.append(log.date)
if log.length is not None:
l = f"{log.length:5.1f} s"
else:
l = "(none)"
row.append(l)
row.append(log.vehicle)
try:
filename = get_local_bag_file(log)
row.append(dtu.friendly_path(filename))
except NotAvailableLocally:
row.append("not local")
if log.valid:
sr = "Yes."
else:
sr = log.error_if_invalid
row.append(sr)
if log.bag_info is not None:
info = yaml.dump(log.bag_info["topics"])
else:
info = "(none)"
if color and not log.valid:
row = dtu.make_row_red(row)
row.append(info)
table.append(row)
return table
def jobs_videos(context, log, name, outd, only_camera):
filename = get_local_bag_file(log)
bag = rosbag.Bag(filename)
main_camera_topic = dbu.get_image_topic(bag)
min_messages = 5 # need at least 5 frames to make a video
topics = [
_ for _, __ in dbu.d8n_get_all_images_topic_bag(
bag, min_messages=min_messages)
]
bag.close()
only_camera_fn = outd + "-video.mp4"
for topic in topics:
stop_at = min_messages + 2
actual_count, count, _stopped_early = dbu.count_messages_in_slice(
filename, topic, log.t0, log.t1, stop_at=stop_at)
assert count >= min_messages
if actual_count < min_messages:
msg = f"There are only {actual_count} (out of {count}) in the slice [{log.t0}, {log.t1}]"
msg += f"\n topic: {topic}"
continue
d = topic.replace("/", "_")
if d.startswith("_"):
d = d[1:]
if only_camera:
if topic != main_camera_topic:
continue
out = only_camera_fn
j = context.comp(
dbu.d8n_make_video_from_bag,
filename,
topic,
out,
t0=log.t0,
t1=log.t1,
job_id=f"{name}-{topic}",
)
else:
out = os.path.join(outd, name + "-" + d + ".mp4")
j = context.comp(dbu.d8n_make_video_from_bag,
filename,
topic,
out,
job_id=f"{name}-{topic}")
# create link
if topic == main_camera_topic:
context.comp(link, j, out, only_camera_fn)
def jobs_videos(context, log, name, outd, only_camera):
filename = get_local_bag_file(log)
bag = rosbag.Bag(filename)
main_camera_topic = dtu.get_image_topic(bag)
min_messages = 5 # need at least 5 frames to make a video
topics = [
_ for _, __ in dtu.d8n_get_all_images_topic_bag(
bag, min_messages=min_messages)
]
bag.close()
only_camera_fn = outd + '-video.mp4'
for topic in topics:
stop_at = min_messages + 2
actual_count, count, _stopped_early = \
count_messages_in_slice(filename, topic, log.t0, log.t1, stop_at=stop_at)
assert count >= min_messages
if actual_count < min_messages:
msg = 'There are only %d (out of %d) in the slice [%s, %s]' % (
actual_count, count, log.t0, log.t1)
msg += '\n topic: %s' % topic
continue
d = topic.replace('/', '_')
if d.startswith('_'):
d = d[1:]
if only_camera:
if topic != main_camera_topic:
continue
out = only_camera_fn
j = context.comp(dtu.d8n_make_video_from_bag,
filename,
topic,
out,
t0=log.t0,
t1=log.t1,
job_id='%s-%s' % (name, topic))
else:
out = os.path.join(outd, name + '-' + d + '.mp4')
j = context.comp(dtu.d8n_make_video_from_bag,
filename,
topic,
out,
job_id='%s-%s' % (name, topic))
# create link
if topic == main_camera_topic:
context.comp(link, j, out, only_camera_fn)
def get_logs_description_table(logs, color=True):
table = []
table.append([
'#', 'Log name', 'rc', 'description', 'bag size', 'hash bag', 'date',
'length', 'vehicle name', 'filename', 'valid', 'topics'
])
for i, (_, log) in enumerate(logs.items()):
row = []
row.append(i)
row.append(log.log_name)
row.append(len(log.resources))
# row.append(log.map_name)
row.append(log.description)
dtr = DTR.from_yaml(log.resources['bag'])
bag_size_mb = '%8.1f MB' % (dtr.size / (1024.0 * 1024))
row.append(bag_size_mb)
row.append('%s %s \n%s' % (dtr.name, bag_size_mb, dtr.hash['sha1']))
row.append(log.date)
if log.length is not None:
l = '%5.1f s' % log.length
else:
l = '(none)'
row.append(l)
row.append(log.vehicle)
try:
filename = get_local_bag_file(log)
row.append(dtu.friendly_path(filename))
except NotAvailableLocally:
row.append('not local')
if log.valid:
sr = 'Yes.'
else:
sr = log.error_if_invalid
row.append(sr)
if log.bag_info is not None:
info = yaml.dump(log.bag_info['topics'])
else:
info = '(none)'
if color and not log.valid:
row = dtu.make_row_red(row)
row.append(info)
table.append(row)
return table
def look_at(
log,
output: str,
anti_instagram: str,
line_detector: str,
image_prep: str,
lane_filter: str,
all_details: bool,
) -> None:
filename = get_local_bag_file(log)
bag = rosbag.Bag(filename)
vehicle_name = dbu.which_robot(bag)
dtu.logger.info(f"Vehicle name: {vehicle_name}")
brp = dbu.BagReadProxy(bag)
rcg = get_robot_camera_geometry_from_log(brp)
topic = dbu.get_image_topic(bag)
res = dbu.d8n_read_all_images_from_bag(bag, topic, max_images=1)
image_cv = res[0]["rgb"]
# dtu.logger.debug(dtu.describe_value(image_cv))
image_cv_bgr = dtu.bgr_from_rgb(image_cv)
dtu.DuckietownConstants.show_timeit_benchmarks = True
res, _stats = run_pipeline(
image_cv_bgr,
gpg=rcg.gpg,
rectifier=rcg.rectifier,
anti_instagram_name=anti_instagram,
line_detector_name=line_detector,
image_prep_name=image_prep,
lane_filter_name=lane_filter,
all_details=all_details,
)
res = dtu.resize_small_images(res)
dtu.write_bgr_images_as_jpgs(res, output)
def go(self):
extra = self.options.get_extra()
if not extra:
query = "*"
else:
if len(extra) > 1:
msg = "Expected only one extra argument."
raise dtu.DTUserError(msg)
query = extra[0]
db = self.get_easy_logs_db()
logs = db.query(query)
self.info(f"Found {len(logs)} logs.")
outdir = self.options["outdir"]
if outdir is None:
outdir = "."
msg = 'Option "--outdir" not passed. Will copy to current directory.'
self.warn(msg)
if not os.path.exists(outdir):
dtu.mkdirs_thread_safe(outdir)
for id_log, log in list(logs.items()):
log = download_if_necessary(log)
out = os.path.join(outdir, id_log + ".bag")
if os.path.exists(out):
print(out)
continue
try:
filename = get_local_bag_file(log)
shutil.copy(filename, out)
print(out)
except NotAvailableLocally:
dtu.logger.error(f"No local file for {id_log}")
def work(log, outd, max_images, only_camera, write_frames):
filename = get_local_bag_file(log)
t0 = log.t0
t1 = log.t1
MIN_HEIGHT = 480
# noinspection PyUnboundLocalVariable
bag = rosbag.Bag(filename)
main = dtu.get_image_topic(bag)
topics = [_ for _, __ in dtu.d8n_get_all_images_topic_bag(bag)]
bag.close()
dtu.logger.debug('%s - topics: %s' % (filename, topics))
for topic in topics:
if only_camera and topic != main:
continue
try:
bag = rosbag.Bag(filename)
except:
msg = 'Cannot read Bag file %s' % filename
dtu.logger.error(msg)
raise
bag_proxy = dtu.BagReadProxy(bag, t0, t1)
res = dtu.d8n_read_all_images_from_bag(bag_proxy,
topic,
max_images=max_images,
use_relative_time=True)
bag.close()
d = topic.replace('/', '_')
if d.startswith('_'):
d = d[1:]
d0 = os.path.join(outd, d)
images_with_label = []
for i in range(len(res)):
rgb = res[i]['rgb']
H, _W = rgb.shape[:2]
if H < MIN_HEIGHT:
zoom = int(np.ceil(MIN_HEIGHT / H))
rgb = dtu.zoom_image(rgb, zoom)
timestamp = res[i]['timestamp']
s = 't = %.2f' % (timestamp - t0)
with_label = dtu.add_header_to_rgb(rgb, s)
images_with_label.append(with_label)
if write_frames:
for i, rgb in enumerate(images_with_label):
rgb = res[i]['rgb']
fn = os.path.join(d0, ('image-%05d' % i) + '.jpg')
dtu.write_bgr_as_jpg(dtu.bgr_from_rgb(rgb), fn)
grid = dtu.make_images_grid(
images_with_label,
pad=4,
bgcolor=dtu.ColorConstants.RGB_DUCKIETOWN_YELLOW)
s = log.log_name
grid = dtu.add_header_to_rgb(grid, s, max_height=32)
if (topic != main) or len(topics) > 1:
fn = d0 + '.jpg'
dtu.write_rgb_as_jpg(grid, fn)
if topic == main:
fn = outd + '.thumbnails.jpg'
dtu.write_rgb_as_jpg(grid, fn)