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Merged
flipflip8952 merged 1 commit into from
Sep 1, 2026
Merged

change fpltool extract defaults, handle videodecoder fail #220

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2 changes: 2 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,8 @@ CMakeCache.txt
*.bak
/.devcontainer/.bash_history.d
/.devcontainer/.vscode-server
/.devcontainer/.claude
/.devcontainer/.local
.devcontainer/.gdb/__pycache__
/ws
/ws2
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19 changes: 13 additions & 6 deletions fpsdk.sh
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Expand Up @@ -27,22 +27,24 @@ function main
local volume_args=
local docker_args=
local dochecks=1
while getopts ":hduxti:v:" opt; do
local hwaccel=0
while getopts ":hduxtai:v:" opt; do
case $opt in
h)
echo
echo "Run Fixposition SDK apps"
echo
echo "This uses Docker images with pre-built binaries of the Fixposition SDK apps."
echo
echo "Usage: $0 [-d] [-u] [-x] [-i <image>] [-v <volume> ...] <command> ..."
echo "Usage: $0 [-d] [-u] [-x] [-t] [-a] [-i <image>] [-v <volume> ...] <command> ..."
echo
echo "Where:"
echo
echo " -d Enable debug output (of this script)"
echo " -x Bypass checks (check for running in Docker, running as root, ...)"
echo " -u Update (pull) the necessary Docker <image>"
echo " -t Executes <command> with docker run --tty"
echo " -a Try to enable hw acceleration for video decoding"
echo " -i <image> Specifies which Docker image to use (default: trixie). Available images are:"
echo " trixie -- Debian Trixie (no ROS, some functionality not available)"
echo " noetic -- ROS1 Noetic (additional ROS1 functionality available)"
Expand Down Expand Up @@ -91,6 +93,9 @@ function main
t)
docker_args="--tty"
;;
a)
hwaccel=1
;;
i)
image=${OPTARG}
;;
Expand Down Expand Up @@ -183,10 +188,12 @@ function main
args="${args} --user $(id -u):$(id -g) --volume /etc/passwd:/etc/passwd:ro --volume /etc/group:/etc/group:ro"
# - Allow FFmpeg vaapi access on some systems. Note: this doesn't work with "-i noetic" (Ubuntu 20).
# Related: https://github.com/joedefen/ffmpeg-vaapi-docker
if [ -r /dev/dri ]; then
args="${args} --device=/dev/dri"
rendergid=$(awk -F: '/^render:/ { print $3 }' /etc/group)
args="${args} --group-add ${rendergid}"
if [ ${hwaccel} -gt 0 ]; then
if [ -r /dev/dri ]; then
args="${args} --device=/dev/dri"
rendergid=$(awk -F: '/^render:/ { print $3 }' /etc/group)
args="${args} --group-add ${rendergid}"
fi
fi

[ ${DEBUG} -gt 0 ] && set -x
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51 changes: 31 additions & 20 deletions fpsdk_apps/fpltool/fpltool_extract.cpp
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Expand Up @@ -89,12 +89,12 @@ bool FplToolExtract::Run()
return false;
}

// Check which output formats we want
// Check which output formats we want. Keep defaults in sync with help screen!
do_jsonl_ = opts_.formats_.empty();
do_raw_ = opts_.formats_.empty();
do_file_ = opts_.formats_.empty();
do_ros_ = opts_.formats_.empty();
do_cam_ = opts_.formats_.empty();
do_ros_ = false;
do_cam_ = false;
for (auto& fmt : opts_.formats_) { // clang-format off
if (fmt == opts_.FORMAT_JSONL) { do_jsonl_ = true; }
else if (fmt == opts_.FORMAT_RAW) { do_raw_ = true; }
Expand All @@ -111,31 +111,37 @@ bool FplToolExtract::Run()
return false;
}

DEBUG("do_jsonl=%s do_raw=%s do_file=%s do_ros=%s do_cam=%s", ToStr(do_jsonl_), ToStr(do_raw_), ToStr(do_file_),
ToStr(do_ros_), ToStr(do_cam_));

NOTICE("Extracting from %s to %s_...", input_fpl.c_str(), output_prefix_.c_str());
TicToc tt;

std::string output_bag;
if (do_ros_) {
#if FPSDK_USE_ROS2
const auto output_bag = output_prefix_ + "_bag"; // Directory! (even for single-file .mcap)
output_bag = output_prefix_ + "_bag"; // Directory! (even for single-file .mcap)
#else
const auto output_bag = output_prefix_ + ".bag"; // File
output_bag = output_prefix_ + ".bag"; // File
#endif
if (PathExists(output_bag)) {
if (!opts_.overwrite_) {
WARNING("Output bag %s already exists", output_bag.c_str());
return false;
} else {
RemoveAll(output_bag);
if (PathExists(output_bag)) {
if (!opts_.overwrite_) {
WARNING("Output bag %s already exists", output_bag.c_str());
return false;
} else {
RemoveAll(output_bag);
}
}
}
#if FPSDK_USE_ROS2
if (do_ros_ && !bag_.Open(output_bag, opts_.mcap_, opts_.compress_)) {
if (do_ros_ && !bag_.Open(output_bag, opts_.mcap_, opts_.compress_)) {
#else
if (do_ros_ && !bag_.Open(output_bag, opts_.compress_)) {
if (do_ros_ && !bag_.Open(output_bag, opts_.compress_)) {
#endif
return false;
}
return false;
}

NOTICE("Extracting to %s", output_bag.c_str());
NOTICE("Extracting to %s", output_bag.c_str());
}

// Handle SIGINT (C-c) to abort nicely
SigIntHelper sig_int;
Expand Down Expand Up @@ -508,8 +514,9 @@ FplToolExtract::ProcRes FplToolExtract::ProcessCamData(const FplMessage& fpl_msg
}

// Decode this frame
fut = std::async(std::launch::async,
[&dec, /*copy!*/ camdata]() -> AsyncDecData { return { camdata, dec->DecodeFrame(camdata.data_) }; });
fut = std::async(std::launch::async, [&dec, /*copy!*/ camdata]() -> AsyncDecData {
return { camdata, dec->DecodeFrame(camdata.data_), dec->IsOkay() };
});

break;
}
Expand All @@ -526,7 +533,11 @@ FplToolExtract::ProcRes FplToolExtract::ProcessAsyncDecData(const FplToolExtract
auto& camdata = decdata.camdata_;
if (!decdata.img_) {
WARNING("No image from CAMDATA %s", camdata.info_.c_str());
return ProcRes::ERROR;
if (!decdata.dec_is_okay_) {
return ProcRes::FATAL;
} else {
return ProcRes::ERROR;
}
}
auto& img = *decdata.img_;
TRACE("CAMDATA decoded %s -> %dx%d %s", camdata.info_.c_str(), img.width_, img.height_, PixelFmtToStr(img.fmt_));
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1 change: 1 addition & 0 deletions fpsdk_apps/fpltool/fpltool_extract.hpp
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Expand Up @@ -89,6 +89,7 @@ class FplToolExtract
{
common::fpl::CamData camdata_;
std::optional<common::video::ImageData> img_;
bool dec_is_okay_ = true;
};
struct AsyncDecState
{
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14 changes: 9 additions & 5 deletions fpsdk_apps/fpltool/fpltool_opts.hpp
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Expand Up @@ -122,7 +122,7 @@ class FplToolOptions : public common::app::ProgramOptions
" -o, --output <out> -- Output file prefix <out> (default: derive from <fpl-file> name)\n"
" -S, --skip <sec> -- Skip <sec> seconds from start of log (default: 0, i.e. no skip)\n"
" -D, --duration <sec> -- Process <sec> seconds of log (default: everything)\n"
" -e, --formats <fmts> -- Comma-separated list of output formats for the extract <command> (default: all)\n"
" -e, --formats <fmts> -- Comma-separated list of output formats for the extract <command> (default: jsonl,raw,file)\n"
" -s, --scale <fact> -- Scale factor for decoded video frames: 0.1 - 1.0 (default: 1.0)\n"
" -t, --pixelfmt <fmt> -- Pixel format for decoded video frames: Y8, RGB24, GBRP (default: RGB24)\n"
" <command> -- The command, see below\n"
Expand Down Expand Up @@ -240,10 +240,14 @@ class FplToolOptions : public common::app::ProgramOptions
"\n"
" fpltool -x dump some.fpl > some.txt\n"
"\n"
" Extract all data from a .fpl file:\n"
" Extract some data from a .fpl file:\n"
"\n"
" fpltool extract some.fpl\n"
"\n"
" Extract all data from a .fpl file:\n"
"\n"
" fpltool extract -e jsonl,raw,file,ros,cam some.fpl\n"
"\n"
" Create a ROS some.bag file (ROS1) resp. some_bag directory (ROS2) from a .fpl file:\n"
"\n"
" fpltool extract -e ros,cam some.fpl\n"
Expand All @@ -252,13 +256,13 @@ class FplToolOptions : public common::app::ProgramOptions
" Create another.bag (ROS1, another_bag/ for ROS2) with 2 minutes of data starting 60 seconds\n"
" into some.fpl:\n"
"\n"
" fpltool rosbag some.fpl -c -c -o another.bag -S 60 -D 120\n"
" fpltool rosbag some.fpl -o another.bag -S 60 -D 120\n"
"\n"
" Check what is in the extracted ROS bag:\n"
"\n"
" rosbag info some.bag # ROS 1\n"
" ros2 bag info some_bag # ROS 2 (default, see above)\n"
" mcap info some_bag/some.mcap # ROS 2 (with -m, see above)\n"
" ros2 bag info some_bag # ROS 2 (default bag format)\n"
" mcap info some_bag/some.mcap # ROS 2 (with -m, mcap bag format)\n"
"\n"
" Create a ROS bag, convert encoded video (e.g. from PBx-A1 sensor) to greyscale images of half size:\n"
"\n"
Expand Down
7 changes: 4 additions & 3 deletions fpsdk_common/src/app.cpp
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Expand Up @@ -404,10 +404,11 @@ void ProgramOptions::PrintVersion() const

void ProgramOptions::LogVersion() const
{
INFO("%s%s%s (fpsdk: %s%s%s%s%s, %s)\n%s\n%s\n", app_name_.c_str(), version_str_.empty() ? "" : " ",
INFO("%s%s%s (fpsdk: %s%s%s%s%s, %s)", app_name_.c_str(), version_str_.empty() ? "" : " ",
version_str_.empty() ? "" : version_str_.c_str(), BUILDSTR, ROSSTR, PROJSTR, FFMPEGSTR, BZ2STR,
utils::GetVersionString(), copy_str_.empty() ? utils::GetCopyrightString() : copy_str_.c_str(),
lic_str_.empty() ? utils::GetLicenseString() : lic_str_.c_str());
utils::GetVersionString());
INFO("%s", copy_str_.empty() ? utils::GetCopyrightString() : copy_str_.c_str());
INFO("%s", lic_str_.empty() ? utils::GetLicenseString() : lic_str_.c_str());
}

/* ****************************************************************************************************************** */
Expand Down
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