image_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 <sensor_msgs/Image.h>
00037 
00038 namespace bag_tools
00039 {
00040 
00041 class ImageBagProcessor
00042 {
00043 
00044 public:
00045 
00046   typedef boost::function<void (const sensor_msgs::ImageConstPtr&)> CallbackType;
00047 
00048   ImageBagProcessor(const std::string& image_topic) :
00049     image_topic_(image_topic)
00050   {
00051     ros::Time::init();
00052   }
00053 
00054   void registerCallback(const CallbackType& callback)
00055   {
00056     callback_ = callback;
00057   }
00058 
00063   void processBag(const std::string &filename)
00064   {
00065     // Image topics to load
00066     std::vector<std::string> topics;
00067     topics.push_back(image_topic_);
00068 
00069     std::cout << "Starting processing " << filename << ", ";
00070     rosbag::Bag bag;
00071     bag.open(filename, rosbag::bagmode::Read);
00072     rosbag::View view(bag, rosbag::TopicQuery(topics));
00073 
00074     int num_messages = view.size();
00075     std::cout << num_messages << " messages to process." << std::endl;
00076 
00077     // Load all messages
00078     boost::progress_display show_progress(num_messages);
00079     BOOST_FOREACH(rosbag::MessageInstance const m, view)
00080     {
00081       if (m.getTopic() == image_topic_)
00082       {
00083         sensor_msgs::Image::ConstPtr img_msg = m.instantiate<sensor_msgs::Image>();
00084         if (img_msg != NULL)
00085           callback_(img_msg);
00086       }
00087       ++show_progress;
00088     }
00089     bag.close();
00090     std::cout << "Finished processing " << filename << std::endl;
00091   }
00092 
00093 private:
00094 
00095   std::string image_topic_;
00096   CallbackType callback_;
00097 
00098 };
00099 
00100 } // end of namespace
00101 


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