Merge pull request #61 from virtual-vehicle/tg_rosbags

closes #56 and #2

.devcontainer/devcontainer.json

@@ -51,7 +51,7 @@
 		"ms-azuretools.vscode-docker",
 		"streetsidesoftware.code-spell-checker",
 		"oderwat.indent-rainbow",
-		"littlefoxteam.vscode-python-test-adapter"
+		"GitHub.vscode-pull-request-github"
 	],
 	"forwardPorts": [
 		5920,

CHANGELOG.rst

@@ -9,6 +9,16 @@ and this project adheres to `Semantic Versioning <https://semver.org/spec/v2.0.0
 Unreleased
 -------------
 
+Added
+~~~~~~
+- added version number to file metadata. If the native file format changes in the future.
+- added tests for large ROS bagfiles
+
+Changed
+~~~~~~
+- using rosbags as ROS library. This avoids the conflicts of the test explorer and dependency on some poorly maintained libraries.
+- renamed CLI rosbagconvert to pointcloudset-convert since its specific for pointcloudset and not rosbag. Complete rewrite of CLI.
+
 0.6.3 - (2022-06-08)
 -------------
 

README.rst

@@ -28,7 +28,7 @@ pointcloudset
 .. image:: https://joss.theoj.org/papers/10.21105/joss.03471/status.svg
    :target: https://joss.theoj.org/papers/10.21105/joss.03471#
    :alt: JOSS badge
-   
+
 .. image:: https://img.shields.io/badge/code%20style-black-000000.svg
    :target: https://github.com/psf/black
    :alt: code style black
@@ -133,14 +133,14 @@ This produces the plot from the animation above.
 .. _tutorial notebooks: https://github.com/virtual-vehicle/pointcloudset/tree/master/doc/sphinx/source/tutorial_notebooks
 
 
-CLI to convert ROS bag files: rosbagconvert
+CLI to convert ROS bag files: pointcloudset-convert
 ################################################
 
-The package includes a powerfull CLI to convert ROS bag files into many formats like csv, las and many more.
+The package includes a powerful CLI to convert ROS bag files into many formats like csv, las and many more.
 
 .. code-block:: console
 
-   rosbagconvert --output-format csv --output-dir converted_csv test.bag
+   pointcloudset-convert --output-format csv --output-dir converted_csv test.bag
 
 
 .. image:: https://raw.githubusercontent.com/virtual-vehicle/pointcloudset/master/images/cli_demo.gif

conda/environment.yml

@@ -13,11 +13,9 @@ dependencies:
       - ipykernel
       - nbconvert
       - nbformat
-      - rospkg
+      - rosbags
       - kaleido
       - pyntcloud
-      - py3rosmsgs
-      - pycryptodomex
       - setuptools
       - blackcellmagic
       - isort

conda/meta.yaml

@@ -12,7 +12,7 @@ source:
 build:
   number: 0
   entry_points:
-    - rosbagconvert = pointcloudset.io.dataset.commandline:app
+    - pointcloudset-convert = pointcloudset.io.dataset.commandline:app
   script: "{{ PYTHON }} -m pip install . -vv"
 
 requirements:
@@ -24,11 +24,9 @@ requirements:
     - pandas
     - pip
     - plotly
-    - py3rosmsgs
-    - pycryptodomex
     - pyntcloud
     - python
-    - rospkg
+    - rosbags
     - rich
     - typer
   run:
@@ -38,11 +36,9 @@ requirements:
     - open3d>=0.15.0
     - pandas
     - plotly
-    - py3rosmsgs
-    - pycryptodomex
     - pyntcloud
     - python
-    - rospkg
+    - rosbags
     - rich
     - typer
 
@@ -58,7 +54,7 @@ test:
     - pointcloudset.pipeline
     - pointcloudset.plot
   commands:
-    - rosbagconvert --help
+    - pointcloudset-convert --help
 
 about:
   home: https://virtual-vehicle.github.io/pointcloudset/

doc/sphinx/source/commandline_interface.rst

@@ -1,4 +1,4 @@
-rosbagconvert
+pointcloudset-convert
 ======================
 
 The best way to work with large ROS bagfiles is to convert the rosbag beforehand with
@@ -25,12 +25,12 @@ the converted directory.
 
 .. code-block:: console
 
-   rosbagconvert test.bag -t /os1_cloud_node/points -d converted
+   pointcloudset-convert test.bag -t /os1_cloud_node/points -d converted
 
 
 
 .. click:: pointcloudset.io.dataset.commandline:typer_click_object
-   :prog: rosbagconvert
+   :prog: pointcloudset-convert
    :nested: full
 
-   rosbagconvert . -d converted -o csv
+   pointcloudset-convert . -d converted -o csv

docker/base.Dockerfile

@@ -44,8 +44,7 @@ RUN apt-get update && \
 COPY conda/environment.yml* /tmp/conda-tmp/
 RUN /opt/conda/bin/conda env update -n base -f /tmp/conda-tmp/environment.yml
 
-# ROSPY loggging configuation file
-COPY docker/python_logging.conf /etc/ros/
+
 # Switch back to dialog for any ad-hoc use of apt-get
 ENV DEBIAN_FRONTEND=noninteractive
 ENV SHELL /bin/bash

pointcloudset/dataset.py

@@ -59,7 +59,7 @@ def __getitem__(
     @classmethod
     def from_file(cls, file_path: Path, **kwargs):
         """Reads a Dataset from a file.
-        For larger ROS bagfiles files use the commandline tool rosbagconvert to convert the ROS bagfile
+        For larger ROS bagfiles files use the commandline tool pointcloudset-convert to convert the ROS bagfile
         beforehand.
 
         Supported are the native format which is a directore filled with fastparquet frames and

pointcloudset/io/__init__.py

@@ -2,10 +2,11 @@
 Functions for file input and output.
 """
 
-from pyntcloud.io import \
-    FROM_FILE as POINTCLOUD_FROM_FILE  # needs to be here, ignore warnings
+from pyntcloud.io import (
+    FROM_FILE as POINTCLOUD_FROM_FILE,
+)  # needs to be here, ignore warnings
 
-from pointcloudset.io.dataset.bag import dataset_from_rosbag
+from pointcloudset.io.dataset.rosbag import dataset_from_rosbag
 from pointcloudset.io.dataset.dir import dataset_from_dir, dataset_to_dir
 from pointcloudset.io.dataset.pointcloud import dataset_from_pointclouds
 from pointcloudset.io.pointcloud.csv import write_csv