Made compressed image handling smoother, removed hardcoding

[seantfish]

Hi, I added handling for compressed images that does not involve hardcoding. Hardcoding for video rendering of Image types was also fixed. Topic name argument should work now. Also made images be saved in a separate directory to reduce likelihood of unintended deletion of existing png images. Added a flag to save images.

[cardboardcode]

Thank you for the Pull Request. Will test this once my bandwidth allows me, probably this weekend or the next.

[seantfish]

This should address #36 and #38 as the script hanging behavior is consistent with the hardcoded topics, and address #37 by enabling regular Image to mp4.

One limitation to note is that I am testing with CompressedImage files which have a reference to the encoding in the format field, which is not standard. I have not tested with those that specify only compression format, but that should be addressable with additional flags or elif cases.

[cardboardcode]

The script hanging behaviour as captured in the 2 aforementioned issues is unfortunately still not resolved with the modifications introduced.

Steps To Reproduce 📚

1. Create ros2 bag file:

cd $HOME

git clone https://github.com/cardboardcode/virtual_camera.git --depth 1 --single-branch && cd virtual_camera

2. Download this test.mp4 and place it in ~/virtual_camera/data/

test.mp4

cd ~/virtual_camera/data && ln -sf test.mp4 input_data

cd ~/virtual_camera && bash scripts/0_build_docker_image.bash

bash scripts/1_create_docker_container.bash

This publishes test.mp4 as ROS messages on ROS 2 topic /virtual_camera/image_raw

3. Set up rosbag2video:

cd $HOME && git clone https://github.com/gt-marine-robotics-group/rosbag2video.git --branch master --depth 1 --single-branch && cd rosbag2video

4. Record ros2 bag for about 10 seconds:

source /opt/ros/humble/setup.bash && ros2 bag record /virtual_camera/image_raw

python3 ros2bag2video.py -t /virtual_camera/image_raw <generated_rosbag2_bag_file_folder_name>

Expected Behaviour 🟢

Script does not hang and generates output.mp4.

Actual Behaviour 🔴

Script still hangs.

[seantfish]

I will look into this when I get a chance, thanks!

[mlaiacker]

nice to see some activity. thanks for the pull requests.