Metadata-Version: 2.1
Name: rosdepth2mp4
Version: 1.1.0
Summary: A simple tool to record ROS2 Depth topics to MP4.
Author-email: Katsuya Hyodo <rmsdh122@yahoo.co.jp>
License: MIT License
        
        Copyright (c) 2024 Katsuya Hyodo
        
        Permission is hereby granted, free of charge, to any person obtaining a copy
        of this software and associated documentation files (the "Software"), to deal
        in the Software without restriction, including without limitation the rights
        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
        copies of the Software, and to permit persons to whom the Software is
        furnished to do so, subject to the following conditions:
        
        The above copyright notice and this permission notice shall be included in all
        copies or substantial portions of the Software.
        
        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
        SOFTWARE.
        
Project-URL: Homepage, https://github.com/PINTO0309/rosdepth2mp4
Classifier: Programming Language :: Python :: 3
Requires-Python: >=3.10
Description-Content-Type: text/markdown
License-File: LICENSE
Requires-Dist: opencv-contrib-python>=4.9.0.80

# 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

[![Downloads](https://static.pepy.tech/personalized-badge/rosdepth2mp4?period=total&units=none&left_color=grey&right_color=brightgreen&left_text=Downloads)](https://pepy.tech/project/rosdepth2mp4)

## 1. Install ROS2
```bash
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

https://github.com/PINTO0309/rosimg2mp4
