camera_bag_processor.h
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00029 #include <ros/ros.h>
00030 #include <rosbag/bag.h>
00031 #include <rosbag/view.h>
00032 
00033 #include <boost/foreach.hpp>
00034 #include <boost/progress.hpp>
00035 
00036 #include <message_filters/subscriber.h>
00037 #include <message_filters/time_synchronizer.h>
00038 
00039 #include <sensor_msgs/Image.h>
00040 #include <sensor_msgs/CameraInfo.h>
00041 
00042 
00043 namespace bag_tools
00044 {
00045 
00050 template <class M>
00051 class BagSubscriber : public message_filters::SimpleFilter<M>
00052 {
00053 public:
00054   void newMessage(const boost::shared_ptr<M const> &msg)
00055   {
00056     signalMessage(msg);
00057   }
00058 };
00059 
00060 class CameraBagProcessor
00061 {
00062 
00063 public:
00064   CameraBagProcessor(const std::string& camera_base_topic) :
00065     camera_base_topic_(camera_base_topic),
00066     sync_(img_sub_, info_sub_, 25)
00067   {
00068     ros::Time::init();
00069   }
00070 
00071   template<class C>
00072   void registerCallback(const C& callback)
00073   {
00074     sync_.registerCallback(callback);
00075   }
00076 
00081   void processBag(const std::string &filename)
00082   {
00083 
00084     // Image topics to load
00085     std::string cam_image = camera_base_topic_ + "/image_raw";
00086     std::string cam_info = camera_base_topic_ + "/camera_info";
00087 
00088     std::vector<std::string> topics;
00089     topics.push_back(cam_image);
00090     topics.push_back(cam_info);
00091 
00092     std::cout << "Starting processing " << filename << ", ";
00093     rosbag::Bag bag;
00094     bag.open(filename, rosbag::bagmode::Read);
00095     rosbag::View view(bag, rosbag::TopicQuery(topics));
00096 
00097     int num_messages = view.size();
00098     std::cout << num_messages << " messages to process." << std::endl;
00099 
00100     // Load all messages
00101     boost::progress_display show_progress(num_messages);
00102     BOOST_FOREACH(rosbag::MessageInstance const m, view)
00103     {
00104       if (m.getTopic() == cam_image || ("/" + m.getTopic() == cam_image))
00105       {
00106         sensor_msgs::Image::ConstPtr img = m.instantiate<sensor_msgs::Image>();
00107         if (img != NULL)
00108           img_sub_.newMessage(img);
00109       }
00110 
00111       if (m.getTopic() == cam_info || ("/" + m.getTopic() == cam_info))
00112       {
00113         sensor_msgs::CameraInfo::ConstPtr info = m.instantiate<sensor_msgs::CameraInfo>();
00114         if (info != NULL)
00115           info_sub_.newMessage(info);
00116       }
00117 
00118       ++show_progress;
00119     }
00120     bag.close();
00121     std::cout << "Finished processing " << filename << std::endl;
00122   }
00123 
00124 private:
00125 
00126   // Fake subscribers to capture images
00127   BagSubscriber<sensor_msgs::Image> img_sub_;
00128   BagSubscriber<sensor_msgs::CameraInfo> info_sub_;
00129 
00130   std::string camera_base_topic_;
00131 
00132   message_filters::TimeSynchronizer<sensor_msgs::Image, sensor_msgs::CameraInfo> sync_;
00133 
00134 };
00135 
00136 } // end of namespace
00137 


bag_tools
Author(s): Stephan Wirth , Miquel Massot
autogenerated on Mon Oct 6 2014 07:48:00