refactoring

Author: benediktschwab

.github/workflows/ci.yml

@@ -0,0 +1,35 @@
+name: CI
+
+on:
+  push:
+    branches:
+    - main
+    - develop
+  pull_request: {}
+
+
+jobs:
+
+  build:
+    name: cargo build
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: dtolnay/rust-toolchain@stable
+    - name: Build
+      run: cargo build
+
+  test:
+    name: cargo test
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: dtolnay/rust-toolchain@stable
+      with:
+        components: rustfmt clippy
+    - name: rustfmt
+      run: cargo fmt --all -- --check
+    - name: clippy
+      run: cargo clippy
+    - name: test
+      run: cargo test --verbose

.gitignore

@@ -1,4 +1,7 @@
-### JetBrains template
+# Created by https://www.toptal.com/developers/gitignore/api/rust,macos,jetbrains+all
+# Edit at https://www.toptal.com/developers/gitignore?templates=rust,macos,jetbrains+all
+
+### JetBrains+all ###
 # Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
 # Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
 
@@ -77,7 +80,49 @@ fabric.properties
 # Android studio 3.1+ serialized cache file
 .idea/caches/build_file_checksums.ser
 
-### Rust template
+### JetBrains+all Patch ###
+# Ignore everything but code style settings and run configurations
+# that are supposed to be shared within teams.
+
+.idea/*
+
+!.idea/codeStyles
+!.idea/runConfigurations
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### macOS Patch ###
+# iCloud generated files
+*.icloud
+
+### Rust ###
 # Generated by Cargo
 # will have compiled files and executables
 debug/
@@ -93,3 +138,4 @@ Cargo.lock
 # MSVC Windows builds of rustc generate these, which store debugging information
 *.pdb
 
+# End of https://www.toptal.com/developers/gitignore/api/rust,macos,jetbrains+all

Cargo.toml

@@ -3,35 +3,40 @@ members = [
     "crates/*"
 ]
 
+resolver = "2"
+
 [workspace.package]
-version = "0.0.1-alpha.1"
-authors = ["Benedikt Schwab"]
+version = "0.0.1-alpha.3"
+authors = ["Benedikt Schwab <benedikt.schwab@gmail.com>"]
 edition = "2021"
 license = "MIT OR Apache-2.0"
-repository = "https://github.com/tum-gis/erosbag"
+repository = "https://github.com/envis-space/erosbag"
 
 [workspace.dependencies]
-epoint = { version = "0.0.1-alpha", registry = "custom" }
-ecoord = { version = "0.0.1-alpha", registry = "custom" }
+epoint = { version = "0.0.1-alpha.3" }
+eimage = { version = "0.0.1-alpha.3" }
+ecoord = { version = "0.0.1-alpha.3" }
 
-clap = "4.0.4"
-dotenvy = "0.15.0"
-walkdir = "2.3.2"
-tracing = "0.1.30"
-tracing-subscriber = "0.3.8"
-diesel = "2.0.2"
-diesel_migrations = "2.0.0"
-serde = "1.0"
-serde_derive = "1.0.143"
-serde_repr = "0.1"
-serde_yaml = "0.9"
-serde-big-array = "0.4.1"
+clap = "4.5.9"
+dotenvy = "0.15.7"
+walkdir = "2.5.0"
+tracing = "0.1.40"
+tracing-subscriber = "0.3.18"
+diesel = "~2.1.6"
+diesel_migrations = "~2.1.0"
+r2d2 = "0.8.10"
+serde = "1.0.204"
+serde_derive = "1.0.204"
+serde_repr = "0.1.19"
+serde_yaml = "0.9.34"
+serde-big-array = "0.5.1"
 cdr = "0.2.4"
-thiserror = "1.0.35"
-polars = "0.26.1"
+thiserror = "1.0.61"
+polars = "0.41.3"
 ndarray = "0.15.6"
-indextree = "4.4.0"
-rayon = "1.5.3"
-nalgebra = "0.31.1"
-chrono = "0.4.22"
-itertools = "0.10.5"
+indextree = "4.6.1"
+rayon = "1.10.0"
+nalgebra = "0.33.0"
+chrono = "0.4.38"
+itertools = "0.13.0"
+image = "0.25.1"

README.md

@@ -1 +1,10 @@
 # erosbag
+
+A Rust library for processing ROS2 bags.
+
+> [!WARNING]  
+> The library is at an early stage of development.
+
+## Contributing
+
+The library is developed at the [TUM Chair of Geoinformatics](https://github.com/tum-gis) and contributions are highly welcome.

crates/erosbag-cli/Cargo.toml

@@ -5,13 +5,14 @@ authors.workspace = true
 edition.workspace = true
 license.workspace = true
 repository.workspace = true
-description = "CLI tool for Rosbag operations"
+description = "CLI tool for processing ROS2 bags."
 
 
 [dependencies]
-erosbag = { version = "0.0.1-alpha.1", path = "../erosbag", registry = "custom" }
+erosbag = { version = "0.0.1-alpha.3", path = "../erosbag" }
 ecoord = { workspace = true }
 epoint = { workspace = true }
+eimage = { workspace = true }
 
 clap = { workspace = true, features = ["derive"] }
 dotenvy = { workspace = true }

crates/erosbag-cli/README.md

@@ -0,0 +1,10 @@
+# erosbag-cli
+
+CLI tool for processing ROS2 bags.
+
+> [!WARNING]  
+> The library is at an early stage of development.
+
+## Contributing
+
+The library is developed at the [TUM Chair of Geoinformatics](https://github.com/tum-gis) and contributions are highly welcome.

crates/erosbag-cli/src/arguments.rs

@@ -16,37 +16,45 @@ pub enum Commands {
         rosbag_directory_path: String,
     },
 
-    /// Extract the transforms to an ecoord document
+    /// Extract the transforms
     ExtractTransforms {
         /// Path to the ROS2 bag
         #[clap(long)]
         rosbag_directory_path: String,
 
-        /// Path to the ecoord document
+        /// Path to the output ecoord file
         #[clap(long)]
-        output_ecoord_file_path: String,
+        output_ecoord_path: String,
     },
 
-    /// Extract point clouds accumulated over time
+    /// Extract the point clouds
     ExtractPointClouds {
         /// Path to the ROS2 bag
         #[clap(long)]
         rosbag_directory_path: String,
 
-        /// Path to output directory of extracted point clouds
+        /// Path to the ecoord document
+        #[clap(long)]
+        ecoord_file_path: Option<String>,
+
+        /// Target frame id of extracted point cloud
+        #[clap(long)]
+        frame_id: Option<String>,
+
+        /// Path to the output epoint file containing the extracted point clouds
         #[clap(long)]
-        output_directory_path: String,
+        output_epoint_path: String,
     },
 
-    /// Extract images
+    /// Extract the images
     ExtractImages {
         /// Path to the ROS2 bag
         #[clap(long)]
         rosbag_directory_path: String,
 
-        /// Path to output directory of extracted images
+        /// Path to output eimage file containing the extracted images
         #[clap(long)]
-        output_directory_path: String,
+        output_eimage_path: String,
     },
 
     /// Append the reference frames to a ROS bag

crates/erosbag-cli/src/commands/extract_image_data.rs

@@ -0,0 +1,45 @@
+use chrono::{DateTime, Duration, TimeZone, Utc};
+use ecoord::{FrameId, ReferenceFrames};
+use eimage::{ImageCollection, ImageSeries};
+use erosbag::RosbagOpenOptions;
+use std::collections::HashMap;
+
+use std::path::Path;
+use tracing::info;
+
+pub fn run(rosbag_directory_path: impl AsRef<Path>, output_eimage_path: impl AsRef<Path>) {
+    info!("Start extracting images");
+    info!("Rosbag path: {}", rosbag_directory_path.as_ref().display());
+    info!(
+        "Output eimage path: {}",
+        output_eimage_path.as_ref().display()
+    );
+
+    // fs::create_dir_all(output_file_path).unwrap();
+
+    let rosbag = RosbagOpenOptions::new()
+        .read_write(true)
+        .open(rosbag_directory_path.as_ref())
+        .unwrap();
+
+    let start_time: Option<DateTime<Utc>> =
+        Some(Utc.timestamp_nanos(1579007185814586880 + 1000000000) + Duration::seconds(5));
+    let stop_time: Option<DateTime<Utc>> = start_time.map(|x| x + Duration::seconds(5));
+
+    let image_series = rosbag
+        .get_images(
+            &"/camera_side_left/rgb/image_rect_color".to_string(),
+            &start_time,
+            &stop_time,
+        )
+        .unwrap();
+    info!("Extracted {} images.", image_series.len());
+    let mut image_series_map: HashMap<FrameId, ImageSeries> = HashMap::new();
+    image_series_map.insert(FrameId::from("camera_side_left"), image_series);
+    let image_collection =
+        ImageCollection::new(image_series_map, ReferenceFrames::default()).unwrap();
+    eimage::io::EimageWriter::from_path(output_eimage_path)
+        .unwrap()
+        .finish(image_collection)
+        .unwrap();
+}