[BUG] Get corrupted ROSBAG file when running ROSBAG Recording code sample

Question

[BUG] Get corrupted ROSBAG file when running ROSBAG Recording code sample

DungMinhDao opened this issue 9 months ago · 6 comments

Describe the bug
The file generated from the ROSBAG Recording code sample—specifically, the recording.bag file—is corrupted and cannot be opened with either Foxglove Studio or using bagpy library to read

Minimal Reproducible Example
Device: Oak-D Pro Auto-focus
OS: Windows 11
Environment:

depthai                   2.22.0.0                 pypi_0    pypi
depthai-pipeline-graph    0.0.5                    pypi_0    pypi
depthai-sdk               1.13.1                   pypi_0    pypi

I use the code for record.py from the source code: rosbag_record.py mentioned in the code sample

The package rosbags is also installed through pip

Expected behavior
When I ran the command python record.py and press Ctrl+C to stop, it output the video in the directory record/4-19443010C1384E1300/ which contains 2 files calib.json and recording.bag

(base) PS C:\Users\dminhdao\ABCD\depthai-experiments\rosbag> python record.py
[2024-03-25 12:32:05] INFO [root.__init__:118] Setting IR laser dot projector brightness to 800mA
[2024-03-25 12:32:06] WARNING [libav.swscaler.decode:108] deprecated pixel format used, make sure you did set range correctly
[2024-03-25 12:32:49] INFO [root.close:456] Closing OAK camera
[2024-03-25 12:32:49] INFO [root.close:418] ROS .bag saved at: C:\Users\dminhdao\ABCD\depthai-experiments\rosbag\record\4-19443010C1384E1300\recording.bag
[2024-03-25 12:32:49] INFO [root._run:33] Exiting store frame thread
[2024-03-25 12:32:50] INFO [root.close:456] Closing OAK camera

The file recording.bag has some information can be read by the bagpy package but its message cannot be decoded

$ python
Python 3.10.14 | packaged by Anaconda, Inc. | (main, Mar 21 2024, 16:20:14) [MSC v.1916 64 bit (AMD64)] on win32
Type "help", "copyright", "credits" or "license" for more information.
>>> from bagpy import bagreader
>>> import pandas as pd
>>> b = bagreader('record/4-19443010C1384E1300/recording.bag')
[INFO]  Successfully created the data folder record/4-19443010C1384E1300/recording.
>>> dir(b)
['__class__', '__delattr__', '__dict__', '__dir__', '__doc__', '__eq__', '__format__', '__ge__', '__getattribute__', '__gt__', '__hash__', '__init__', '__init_subclass__', '__le__', '__lt__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', 'animate_laser', 'animate_pointcloud', 'bagfile', 'clock_data', 'compressed_images', 'datafolder', 'delimiter', 'dir', 'end_time', 'filename', 'frequency', 'laser_data', 'message_by_topic', 'message_types', 'n_messages', 'odometry_data', 'plot_odometry', 'plot_std', 'plot_vel', 'plot_wrench', 'pointcloud_data', 'reader', 'start_time', 'std_data', 'topic_table', 'topic_tuple', 'topics', 'vel_data', 'verbose', 'wrench_data']
>>> b.end_time
25.1032406
>>> b.start_time
0.0060003
>>> b.topic_table
                        Topics                        Types  Message Count  Frequency
0                 /9_depth/raw            sensor_msgs/Image            752  29.980692
1  /cam_a_bitstream/compressed  sensor_msgs/CompressedImage            753  29.944737
2  /cam_b_bitstream/compressed  sensor_msgs/CompressedImage            753  29.999850
3  /cam_c_bitstream/compressed  sensor_msgs/CompressedImage            753  29.977637
4                         /imu              sensor_msgs/Imu           4090        NaN
>>> data = b.message_by_topic('/9_depth/raw')
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "C:\Users\dminhdao\miniconda3\lib\site-packages\bagpy\bagreader.py", line 270, in message_by_topic
    for topic, msg, t in self.reader.read_messages(topics=topic, start_time=tstart, end_time=tend):
  File "C:\Users\dminhdao\miniconda3\lib\site-packages\rosbag\bag.py", line 2705, in read_messages
    yield self.seek_and_read_message_data_record((entry.chunk_pos, entry.offset), raw, return_connection_header)
  File "C:\Users\dminhdao\miniconda3\lib\site-packages\rosbag\bag.py", line 2880, in seek_and_read_message_data_record
    msg.deserialize(data)
  File "C:\Users\dminhdao\AppData\Local\Temp\genpy_jkmp3oua\tmpdg7371ou.py", line 128, in deserialize
    self.header.frame_id = str[start:end].decode('utf-8')
UnicodeDecodeError: 'utf-8' codec can't decode byte 0xd0 in position 5: invalid continuation byte

Also when I tried to open the file with Foxglove Studio it also gives a message about corrupted file: Failed to deserialize message on topic /9_depth/raw. RangeError: String deserialization error: length 364939000, maxLength 1843234

Screenshots
This is the Foxglove Studio screenshots:

Additional context
The same issue persisted with that code on other Windows 11 laptop, and a more collapsed file is produced with that code on Ubuntu 22.04 with an Oak-D Pro Fixed-focus camera - the file is without the begin and end time.

Answer 1 · 2024-03-25T20:44:16.000Z

Hi, can you provide information about the size of files?

Answer 2 · 2024-03-25T21:14:24.000Z

Hi, can you provide information about the size of files?

Sure, the file size is 1.9 GB and recorded for about 25 seconds

Answer 3 · 2024-03-29T18:25:47.000Z

I'm seeing corrupted files with recording as well.

Python: 3.10.10
Device: OAK-D-W

Here's a close to minimal repro:

def _record(record_path: Path, record_type: depthai_sdk.RecordType):
    with OakCamera() as oak:
        # for vis and Q to quit only
        left = oak.create_camera('left', resolution='800p')

        # simple recording
        imu = oak.create_imu()
        imu.config_imu(report_rate=100, batch_report_threshold=5)

        str_path = record_path.absolute()
        print(f"Recording to: {str_path}")

        #oak.record([left, right, imu], path=str_path, record_type=record_type)
        oak.record([imu], path=str_path, record_type=record_type)

        # show recording, press Q key to quit
        oak.visualize([left,])
        oak.start(blocking=True)

From pip:

depthai==2.24.0.0
depthai-pipeline-graph==0.0.5
depthai_sdk (note: install from mainline with `-e`)
depthai-viewer==0.1.8
mcap==1.1.1                                                                                                                       
mcap-ros1-support==0.7.1                                                                                                          
mcap-ros2-support==0.5.3                                                                                                          
rosbags==0.9.22                                                                                                                   
...

Run _record python script
In video window, press Q after 3-5 seconds
Open file in https://foxglove.dev
1. Open local file
2. Select Topics tab
3. Verify /imu is the only topic
4. Press Play button (bottom center of window)
5. Select Problems tab
6. See error message

Expected: no errors

Actual: Error message:

Failed to deserialize message on topic /imu. RangeError: String deserialization error: length 781286000, maxLength 303
Check that your input file is not corrupted

Input file size is 139KB

Similar crash in Matlab when trying to readMessages on the rosbag.

I found one issue where recorder was writing True instead of 1 for latching, should be:

depthai_sdk/src/depthai_sdk/recorders/rosbag_recorder.py (line 532)

stream.connection = self.writer.add_connection(stream.topic, stream.ros_type.__msgtype__, latching=1)

But there are still other issues it seems, corrupting the recording file.

Answer 4 · 2024-04-22T17:53:09.000Z

@themarpe Please check this. Thank you.

Answer 5 · 2024-04-22T21:36:30.000Z

^ @jakaskerl do you mind checking it out

Answer 6 · 2024-04-23T09:13:37.000Z

Hi @cod3monk3y, @DungMinhDao
Can confirm that it works on MacOS with the following dependencies:

depthai-sdk                  1.12.1
depthai                         2.22.0.0
rosbags                        0.9.11
mcap                            1.1.1
mcap-ros1-support     0.0.8