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File .hgignore

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+syntax: glob

File CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+#set the default path for built executables to the "bin" directory
+#set the default path for built libraries to the "lib" directory
+#uncomment if you have defined messages
+#uncomment if you have defined services
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})


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File Makefile

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+include $(shell rospack find mk)/cmake.mk

File mainpage.dox

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+\htmlinclude manifest.html
+\b basic_avi_writer is ... 
+Provide an overview of your package.
+\section codeapi Code API
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.

File manifest.xml

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+  <description brief="basic_avi_writer">
+      basic_avi_writer - a very simple OpenCV based avi writer node.
+      Usage: rosrun basic_avi_writer [image_topic] [filename]
+  </description>
+  <author>Will Dickson</author>
+  <license>Apache 2.0</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/basic_avi_writer</url>
+  <depend package="rospy"/>
+  <depend package="opencv2"/>
+  <depend package="cv_bridge"/>
+  <depend package="sensor_msgs"/>

File nodes/avi_writer_node.py

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+#!/usr/bin/env python
+A basic ROS node for recording AVI files.
+Usage:  rosrun basic_avi_writer avi_writer_node <image_topic> <avi filename>
+from __future__ import print_function
+import roslib
+import rospy
+import sys
+import os
+import os.path
+import cv
+import threading
+import math
+# Messages
+from sensor_msgs.msg import Image
+from cv_bridge.cv_bridge import CvBridge 
+from cv_bridge.cv_bridge import CvBridgeError
+class AVI_Writer(object):
+    def __init__(self,image_topic,filename):
+        self.image_topic = image_topic
+        self.filename = filename
+        self.frame_count = 0
+        self.recording = False
+        self.writer = None 
+        self.cv_image_size = None
+        self.framerate = None 
+        self.last_stamp = None
+        self.lock = threading.Lock()
+        self.bridge = CvBridge()
+        rospy.init_node('avi_writer')
+        rospy.on_shutdown(self.stop_video_writer)
+        # Subscribe to image topic 
+        self.image_sub = rospy.Subscriber(self.image_topic,Image,self.image_handler)
+    def image_handler(self,data): 
+        """
+        Writes frames to avi file.
+        """
+        if self.framerate is not None:
+            # Convert to opencv image and then to ipl_image
+            cv_image = self.bridge.imgmsg_to_cv(data,'bgr8')
+            ipl_image = cv.GetImage(cv_image)
+            cv_image_size = cv.GetSize(cv_image)
+            if self.frame_count == 0:
+                self.cv_image_size = cv_image_size
+                self.start_video_writer()
+            if cv_image_size != self.cv_image_size:
+                # Abort recording - image size changed.
+                pass
+            if self.recording:
+                # Write video frame
+                cv.WriteFrame(self.writer,ipl_image)
+                self.frame_count += 1
+        else:
+            stamp = data.header.stamp
+            if self.last_stamp is not None:
+                diff_stamp = stamp - self.last_stamp
+                dt = diff_stamp.to_sec()
+                self.framerate = 1/dt
+            self.last_stamp = stamp
+    def start_video_writer(self): 
+        self.writer = cv.CreateVideoWriter(
+               self.filename,
+               cv.CV_FOURCC('D','I','V','X'),
+               self.framerate,
+               self.cv_image_size,
+               ) 
+        if self.writer is None:
+            raise IOError, 'unable to create video writer'
+        self.recording = True
+    def stop_video_writer(self):
+        with self.lock:
+            self.recording = False
+            del self.writer
+            self.writer = None
+    def run(self):
+        rospy.spin()
+# -----------------------------------------------------------------------------
+if __name__ == '__main__':
+    image_topic = sys.argv[1]
+    filename = sys.argv[2]
+    node = AVI_Writer(image_topic, filename)
+    node.run()