video_recorder

This package contains the video_recorder_node, which can be used to record a video file from a topic publishing sensor_msgs/Image data and save individual frames.

The node's configuration is done via rosparams:

video_recorder_node:
  fps: 30.0
  output_height: 480
  output_width: 640
  topic: /camera/image_raw
  out_dir: /home/administrator/capture
  max_duration: 0
  record_metadata: false
  camera_frame: camera
  enable_zoom: false

• topic is fairly self-explanatory: this is the ROS topic to subscribe to. Default: /camera/image_raw
• fps is the FPS of the output file. This should be set to the same FPS that the camera node publihes at. Default: 30
• output_height is the frame height of the output video files
• output_width is the frame width of the output video files.
• out_dir is the directory on-disk to save the recorded videos. The directory is created if it doesn't already exist on the disk. Default: /tmp
• max_duration is the absolute maximum duration of videos recorded by this node in seconds. If it is non-zero videos that reach this duration will be stopped automatically. This parameter is intended as a safety precaution against users starting a video and forgetting to stop it, and running out of disk space as a result. Default: 0
• if record_metadata is true a JSON file containing robot and camera pose information is generated alongside the PNG or AVI files. Default: false
• camera_frame is the frame ID of the camera. This is ignored unless record_metadata is true
• enable_zoom indicates whether or not the camera publishes its current zoom leven as a std_msgs/Float64. If it does, the zoom level is recorded in the metadata JSON file.

If record_metadata and enable_zoom are both true the node will subscribe to zoom_level. Use remap as appropriate to connect this subscription to the correct ROS topic for your camera's zoom level.

If the aspect ratio of the input images doesn't match the output video, the video will be letterboxed/pillarboxed as appropriate.

The provided launch file will set out_dir to $HOME if it is run as a normal user. When launching the video_recorder_node as part of a robot_upstart job it is possible that the $HOME envar is not defined, which is why the default is /tmp.

The video file always uses OpenCV's 8UC3 matrix type in BGR format, regardless of the stream source's encoding.

Compressed Images

If your camera only publishes sensor_msgs/CompressedImage data, or you have to use compressed images because of bandwidth limitations, you can set the ~compressed parameter to true. This will force the node to subscribe to compressed images instead of the default sensor_msgs/Image data.

Action Namespace

The video_recorder_node used actionlib to provide actions to save images, start, and stop recoridng video. The services are located in the image topic's namespace.

<node pkg="video_recorder" type="video_recorder_node" name="camera_recorder">
  <param name="topic" value="/camera/image_raw" />
  ...
</node>

This will result in the following action namespaces:

• /camera/image_raw/save_image/
• /camera/image_raw/start_recording/
• /camera/image_raw/stop_recording/

Recording Videos

StartRecording.action

string filename
uint64 duration
---
bool success
string path
---
uint32 time_elapsed
uint32 time_remaining
uint32 n_frames

Videos created with the start_recording action are XVID-encoded AVI files.

To start recording a video, use the start_recording action, optionally providing a filename for the resulting .avi file and a recording duration.

If the filename parameter is empty, the default format of YYYY-MM-DD_hh-mm-ss.avi will be used. If the filename parameter is not empty, the .avi file extension should be included. At present no other video encoding formats are supported.

If the duration parameter is zero the video will record until stop_recording is called (see below). otherwise the video will stop recording after the specified duration in seconds.

If duration is zero the action will generate no feedback. The video will record indefinitely until the corresponding stop_recording action is called.

If duration is non-zero, feeback will be published at 1Hz, providing meta-data about the video including the elapsed recording time, and time remaining. Once the specified duration has elapsed the action will return the result and stop recording automatically.

Stopping a Recording

StopRecording.action

bool arg
---
bool success
string path
uint64 size
uint64 duration
---
bool arg

To stop a recording in-progress, run the stop_recording action. The arg parameter is a placeholder and its actual value is ignored.

The stop_recording action produces no feedback and returns the result immediately.

Note that depending on the fps parameter set and the actual publishing rate of the camera, it's possible for the video's actual duration to be different, but it will include all frames recorded during the specified duration in real-time. For example, if the camera itself publishes at 15FPS, but the video_recorder_node is configured with an fps parameter of 30, a video recorded with a duration of 60 seconds will have a playback duration of only 30 seconds; the video file's FPS is twice that of the camera. For this reason it is important to make sure the fps parameter is properly set when launching the video_recorder_node.

Saving Images

SaveImage.action

string filename
uint32 delay
---
bool success
string path
---
uint32 time_remaining

To save a single frame as an image, use the save_image action, optionally specifying the filename for the resulting image and a delay in seconds.

If the filename parameter is empty, the default format of YYYY-MM-DD_hh-mm-ss.avi.png will be used. If the filename parameter is not empty, the file extension should be included in the parameter. Supported extensions are:

• .png (default),
• .jpg (or .jpeg), and
• .bmp

The delay parameter is an optional delay to apply before taking the picture, measured in seconds. This can be useful to work around high-latency cameras to ensure the correct frame is recorded.

Feedback is provided at 1Hz and serves as a countdown timer. Once the image has been saved to disk the action returns the result.

Note that unlike videos, the size of the images saved is always the same as the published image topic. No resizing, letterboxing, nor pillarboxing is applied.

Is-Recording Indicator

The video_recorder_node publishes an is_recording topic which indicates whether or not video is currently being recorded. This topic publishes true/false at a rate equal to the FPS of the camera, as long as the node's status is >=2 (see below for status messages). When the node is in the WAITING (1) status the is_recording topic is not published.

Status

The video_recorder_node also publishes its internal status at a rate of 1Hz on the recorder_status topic.

Status.msg

uint8 status
uint32 frames_received_last_second
uint32 frames_processed_last_second

The status field is a bit-field with the following meanings:

• 0-bit: Indicates that the node is waiting to receive data from the camera. Recording videos/saving images cannot be done in this state
• 1-bit: The node has received at least 1 frame from the camera and is running normally
• 2-bit: The node is currently recording video
• 4-bit: The node is running a countdown timer to save a single image

e.g. A status of 0b00000010 = 2 indicates that the node is running normally, but is not recording.

e.g. A status of 0b00000110 = 6 indicates that the node is running normally and recording video.

e.g. A status of 0b00000001 = 1 indicates that the node is waiting to receive camera data

The frames_received_last_second and frames_processed_last_second indicate the number of raw frames received from the camera in the last 1s of real-time and the number of frames written to video/image files. Under normal conditions, frames_received_last_second should be equal to the FPS of the camera. When recording, frames_processed_last_second should also match the camera's FPS.

audio_recorder

This package contains the audio_recorder_node, which can be used to record a .wav file from an ALSA-compatible input device. This replicates some of the behaviour of packages found in audio_common, but wraps the functionality in an actionlib server to make it compatible with Clearpath's GPS Navigation and IndoorNav software stacks.

The node's configuration is done via rosparams:

audio_recorder_node:
  out_dir: /home/administrator/capture
  card: 0
  device: 0
  bitrate: 44100
  channels: 1

• out_dir is the directory on-disk to save the recorded files. If the directory does not already exist it will be created automatically. Default: /tmp
• card and device form part of the ALSA hardware device identifier. For example, if arecord -l shows card 1: U0x46d0x825 [USB Device 0x46d:0x825], device 0: USB Audio [USB Audio] then use card: 1 and device: 0.
• bitrate is the bitrate for ALSA to record audio from the device
• channels is the number of audio channels supported by the device. Mono devices typically have 1 and stereo devices typically have 2, but this may vary depending on your hardware.

The provided launch file will set out_dir to $HOME if it is run as a normal user. When launching the audio_recorder_node as part of a robot_upstart job it is possible that the $HOME envar is not defined, which is why the default is /tmp.

Audio files are always saved as uncompressed .wav files.

Recording Audio

StartRecording.action

string filename
uint64 duration
---
bool success
string path
---
uint32 time_elapsed
uint32 time_remaining

Files created with the start_recording action are uncompressed .wav files.

To start recording, use the start_recording action, optionally providing a filename for the resulting .avi file and a recording duration.

If the filename parameter is empty, the default format of YYYY-MM-DD_hh-mm-ss.avi.wav will be used. If the
filename parameter is not empty, the .wav file extension should be included. At present no other audio formats are supported.

If the duration parameter is zero the video will record until stop_recording is called (see below). otherwise the file will stop recording after the specified duration in seconds.

If duration is zero the action will generate no feedback. The file will record indefinitely until the corresponding stop_recording action is called.

If duration is non-zero, feeback will be published at 1Hz, providing meta-data about the audio including the elapsed recording time, and time remaining. Once the specified duration has elapsed the action will return the result and stop recording automatically.

Stopping a Recording

StopRecording.action

bool arg
---
bool success
string path
uint64 duration
---
bool arg

To stop a recording in-progress, run the stop_recording action. The arg parameter is a placeholder and its actual value is ignored.

The stop_recording action produces no feedback and returns the result immediately.

Is-Recording Indicator

The audio_recorder_node publishes an is_recording topic which indicates whether or not audio is currently being recorded. This topic publishes true/false at a rate of 10Hz.

Status

The audio_recorder_node also publishes its internal status at a rate of 10Hz on the recorder_status topic.

Status.msg

uint8 status

The status field is a bit-field with the following meanings:

• 1-bit: The node has started and is running
• 2-bit: The node is currently recording audio

e.g. A status of 0b00000010 = 2 indicates that the node is running normally, but is not recording.

e.g. A status of 0b00000110 = 6 indicates that the node is running normally and recording video.