Add option to compress images

README.md

@@ -21,8 +21,11 @@ The tool is a normal ROS package. Place it under a workspace and build it with c
 ## Usage
 
 **Command-line arguments:**
-`--dataroot`: The path to the directory that contains the 'maps', 'samples' and 'sweeps'.
+`--dataroot,-s`: The path to the directory that contains the 'maps', 'samples' and 'sweeps'.
 `--version`: (optional) The sub-directory that contains the metadata .json files. Default = "v1.0-mini"
+`--scene_number,-n`: (optional) Only convert a given scene
+`--compress,-c`: (optional) whether to use compressed images to reduce file size
+
 
 
 **Converting the 'mini' dataset:**
@@ -40,6 +43,10 @@ This processes 4 scenes simultaneously, however the scene numbers are not proces
 rosrun nuscenes2bag nuscenes2bag --dataroot /path/to/nuscenes_mini_meta_v1.0/ --out nuscenes_bags/ --jobs 4
 ```
 
+Convert one scene to a bag file with compressed images:
+```
+rosrun nuscenes2bag nuscenes2bag -c --scene_number 0061 --dataroot /path/to/nuscenes_mini_meta_v1.0/ --out nuscenes_bags/
+```
 
 **Converting other datasets:**
 
@@ -72,4 +79,4 @@ Built using:
 ## Authors
 
  - [clynamen](https://github.com/clynamen/)
- - [ChernoA](https://github.com/ChernoA)
+ - [ChernoA](https://github.com/ChernoA)

include/nuscenes2bag/ImageDirectoryConverter.hpp

@@ -14,4 +14,6 @@ namespace nuscenes2bag {
 
 boost::optional<sensor_msgs::Image> readImageFile(const fs::path& filePath) noexcept;
 
+boost::optional<sensor_msgs::CompressedImage> readImageFileCompressed(const fs::path& filePath) noexcept;
+
 }

include/nuscenes2bag/NuScenes2Bag.hpp

@@ -19,7 +19,8 @@ struct NuScenes2Bag {
                         const std::string& version,
                         const fs::path &outputRosbagPath,
                         int32_t threadNumber,
-                        boost::optional<int32_t> sceneNumberOpt
+                        boost::optional<int32_t> sceneNumberOpt,
+                        bool compressImgs
                         );
 
 private:

include/nuscenes2bag/SceneConverter.hpp

@@ -9,7 +9,7 @@ namespace nuscenes2bag {
 
 class SceneConverter {
     public:
-    SceneConverter(const MetaDataProvider& metaDataProvider);
+    SceneConverter(const MetaDataProvider& metaDataProvider, bool compressImgs);
 
     void submit(const Token& sceneToken, FileProgress& fileProgress);
 
@@ -25,6 +25,7 @@ class SceneConverter {
     std::vector<EgoPoseInfo> egoPoseInfos;
     SceneId sceneId;
     Token sceneToken;
+    bool compressImgs;
 };
 
 }

src/ImageDirectoryConverter.cpp

@@ -22,4 +22,22 @@ readImageFile(const fs::path& filePath) noexcept
   return boost::none;
 }
 
+boost::optional<sensor_msgs::CompressedImage>
+readImageFileCompressed(const fs::path& filePath) noexcept
+{
+  cv::Mat image;
+  try {
+    image = imread(filePath.string().c_str(), cv::IMREAD_COLOR);
+    sensor_msgs::CompressedImagePtr msg =
+      cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toCompressedImageMsg();
+
+    return boost::optional<sensor_msgs::CompressedImage>(*msg);
+
+  } catch (const std::exception& e) {
+    PRINT_EXCEPTION(e);
+  }
+
+  return boost::none;
+}
+
 }

src/NuScenes2Bag.cpp

@@ -35,7 +35,8 @@ NuScenes2Bag::convertDirectory(const fs::path& inDatasetPath,
                                const std::string& version,
                                const fs::path& outputRosbagPath,
                                int threadNumber,
-                               boost::optional<int32_t> sceneNumberOpt)
+                               boost::optional<int32_t> sceneNumberOpt,
+                               bool compressImgs)
 {
   if ((threadNumber < 1) || (threadNumber > 64)) {
     std::cout << "Forcing at least one job number (-j1)" << std::endl;
@@ -91,7 +92,7 @@ NuScenes2Bag::convertDirectory(const fs::path& inDatasetPath,
 
   for (const auto& sceneToken : chosenSceneTokens) {
     std::unique_ptr<SceneConverter> sceneConverter =
-      std::make_unique<SceneConverter>(metaDataReader);
+      std::make_unique<SceneConverter>(metaDataReader, compressImgs);
     sceneConverter->submit(sceneToken, fileProgress);
     SceneConverter* sceneConverterPtr = sceneConverter.get();
     sceneConverters.push_back(std::move(sceneConverter));
@@ -136,7 +137,7 @@ NuScenes2Bag::convertDirectory(const fs::path& inDatasetPath,
 
   for (const auto& sceneToken : chosenSceneTokens) {
     boost::shared_ptr<SceneConverter> sceneConverter =
-      boost::make_shared<SceneConverter>(SceneConverter(metaDataReader));
+      boost::make_shared<SceneConverter>(SceneConverter(metaDataReader, compressImgs));
     sceneConverter->submit(sceneToken, fileProgress);
     sceneConverters.push_back(std::move(sceneConverter));
 

src/SceneConverter.cpp

@@ -17,8 +17,8 @@ using namespace std;
 
 namespace nuscenes2bag {
 
-SceneConverter::SceneConverter(const MetaDataProvider& metaDataProvider)
-  : metaDataProvider(metaDataProvider)
+SceneConverter::SceneConverter(const MetaDataProvider& metaDataProvider, bool compressImgs)
+  : metaDataProvider(metaDataProvider), compressImgs(compressImgs)
 {}
 
 boost::optional<SampleType>
@@ -121,9 +121,16 @@ SceneConverter::convertSampleDatas(rosbag::Bag& outBag,
     std::string sensorName = toLower(calibratedSensorName.name);
 
     if (sampleType == SampleType::CAMERA) {
-      auto topicName = sensorName + "/raw";
-      auto msg = readImageFile(sampleFilePath);
-      writeMsg(topicName, sensorName, sampleData.timeStamp, outBag, msg);
+      if (compressImgs) {
+        auto topicName = sensorName + "/compressed";
+        auto msg = readImageFileCompressed(sampleFilePath);
+        writeMsg(topicName, sensorName, sampleData.timeStamp, outBag, msg);
+      }
+      else {
+        auto topicName = sensorName + "/raw";
+        auto msg = readImageFile(sampleFilePath);
+        writeMsg(topicName, sensorName, sampleData.timeStamp, outBag, msg);
+      }
 
     } else if (sampleType == SampleType::LIDAR) {
       auto topicName = sensorName;

src/main.cpp

@@ -15,6 +15,7 @@ main(const int argc, const char* argv[])
     std::string outputBagName;
     int32_t threadNumber = -1;
     int32_t sceneNumber = -1;
+    bool compressImgs = false;
 
     options_description desc{ "Options" };
     desc.add_options()("help,h", "show help");
@@ -32,7 +33,10 @@ main(const int argc, const char* argv[])
       "out,o", value<std::string>(&outputBagName), "output bag name")(
       "jobs,j",
       value<int32_t>(&threadNumber),
-      "number of jobs (thread number)");
+      "number of jobs (thread number)")(
+      "compress,c",
+      bool_switch(&compressImgs),
+      "whether to use compressed images to reduce file size");
     variables_map vm;
 
     desc.add(inputDesc);
@@ -52,7 +56,7 @@ main(const int argc, const char* argv[])
         sceneNumberOpt = sceneNumber;
       }
       converter.convertDirectory(
-        sampleDirPath, version, outputBagName, threadNumber, sceneNumberOpt);
+        sampleDirPath, version, outputBagName, threadNumber, sceneNumberOpt, compressImgs);
     }
   } catch (const error& ex) {
     std::cerr << ex.what() << '\n';