ros_file_format.h File Reference

#include <string>
#include <chrono>
#include "librealsense2/rs.h"
#include "sensor_msgs/image_encodings.h"
#include "sensor_msgs/Imu.h"
#include "sensor_msgs/Image.h"
#include "diagnostic_msgs/KeyValue.h"
#include "std_msgs/UInt32.h"
#include "std_msgs/Float32.h"
#include "std_msgs/Float32MultiArray.h"
#include "std_msgs/String.h"
#include "realsense_msgs/StreamInfo.h"
#include "realsense_msgs/ImuIntrinsic.h"
#include "realsense_msgs/Notification.h"
#include "realsense_legacy_msgs/legacy_headers.h"
#include "sensor_msgs/CameraInfo.h"
#include "geometry_msgs/Transform.h"
#include "geometry_msgs/Twist.h"
#include "geometry_msgs/Accel.h"
#include "metadata-parser.h"
#include "option.h"
#include "l500/l500-depth.h"
#include "rosbag/structures.h"
#include <regex>
#include "stream.h"
#include "types.h"
#include <vector>

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Classes
class	librealsense::ExtrinsicsQuery
class	librealsense::FalseQuery
class	librealsense::legacy_file_format::FrameInfoExt
class	librealsense::legacy_file_format::FrameQuery
class	librealsense::FrameQuery
class	librealsense::MultipleRegexTopicQuery
class	librealsense::NotificationsQuery
class	librealsense::OptionsQuery
class	librealsense::RegexTopicQuery
class	librealsense::ros_topic
class	librealsense::SensorInfoQuery
class	librealsense::legacy_file_format::StreamQuery
class	librealsense::StreamQuery

Namespaces
	librealsense
	librealsense::legacy_file_format

Enumerations
enum	ros_file_versions { ROS_FILE_VERSION_2 = 2u, ROS_FILE_VERSION_3 = 3u, ROS_FILE_WITH_RECOMMENDED_PROCESSING_BLOCKS = 4u }

Functions
void	librealsense::convert (rs2_format source, std::string &target)
template<typename T >
bool	librealsense::convert (const std::string &source, T &target)
template<>
bool	librealsense::convert (const std::string &source, rs2_format &target)
template<>
bool	librealsense::convert (const std::string &source, double &target)
template<>
bool	librealsense::convert (const std::string &source, long long &target)
bool	librealsense::convert (const geometry_msgs::Transform &source, rs2_extrinsics &target)
bool	librealsense::convert (const rs2_extrinsics &source, geometry_msgs::Transform &target)
rs2_timestamp_domain	librealsense::legacy_file_format::convert (uint64_t source)
bool	librealsense::legacy_file_format::convert_metadata_type (uint64_t type, rs2_frame_metadata_value &res)
constexpr uint32_t	librealsense::legacy_file_format::file_version ()
std::string	librealsense::legacy_file_format::file_version_topic ()
constexpr uint32_t	librealsense::get_device_index ()
constexpr uint32_t	librealsense::get_file_version ()
constexpr uint32_t	librealsense::legacy_file_format::get_maximum_supported_legacy_file_version ()
constexpr uint32_t	librealsense::get_minimum_supported_file_version ()
constexpr device_serializer::nanoseconds	librealsense::get_static_file_info_timestamp ()
device_serializer::stream_identifier	librealsense::legacy_file_format::get_stream_identifier (const std::string &topic)
bool	librealsense::legacy_file_format::info_from_string (const std::string &str, rs2_camera_info &out)
bool	librealsense::legacy_file_format::is_camera (rs2_stream s)
stream_descriptor	librealsense::legacy_file_format::parse_stream_type (const std::string &source)
void	librealsense::quat2rot (const geometry_msgs::Transform::_rotation_type &q, float(&r)[9])
void	librealsense::rot2quat (const float(&r)[9], geometry_msgs::Transform::_rotation_type &q)
std::string	librealsense::legacy_file_format::stream_type_to_string (const stream_descriptor &source)
device_serializer::nanoseconds	librealsense::to_nanoseconds (const rs2rosinternal::Time &t)
rs2rosinternal::Time	librealsense::to_rostime (const device_serializer::nanoseconds &t)

Variables
constexpr const char *	librealsense::legacy_file_format::ACCEL = "ACCLEROMETER"
constexpr uint32_t	librealsense::legacy_file_format::actual_exposure = 0
constexpr uint32_t	librealsense::legacy_file_format::actual_fps = 1
constexpr uint32_t	librealsense::legacy_file_format::ARRIVAL_TIMESTAMP = 65540
constexpr uint32_t	librealsense::legacy_file_format::auto_exposure = 6
constexpr const char *	librealsense::legacy_file_format::CENTRAL_PROTOCOL_VERSION = "{ 0x50376dea, 0x89f4, 0x4d70,{ 0xb1, 0xb0, 0x05, 0xf6, 0x07, 0xb6, 0xae, 0x8a } }"
constexpr const char *	librealsense::legacy_file_format::CENTRAL_VERSION = "{ 0x5652ffdb, 0xacac, 0x47ea,{ 0xbf, 0x65, 0x73, 0x3e, 0xf3, 0xd9, 0xe2, 0x70 } }"
constexpr const char *	librealsense::legacy_file_format::COLOR = "COLOR"
constexpr uint32_t	librealsense::legacy_file_format::CONFIDENCE = 65541
constexpr const char *	librealsense::legacy_file_format::DEPTH = "DEPTH"
constexpr const char *	librealsense::legacy_file_format::DEVICE_INTERFACE_VERSION = "{ 0xafcd9c11, 0x52e3, 0x4258,{ 0x8d, 0x23, 0xbe, 0x86, 0xfa, 0x97, 0xa0, 0xab } }"
constexpr const char *	librealsense::legacy_file_format::EEPROM_VERSION = "{ 0x4617d177, 0xb546, 0x4747,{ 0x9d, 0xbf, 0x4f, 0xf8, 0x99, 0x0c, 0x45, 0x6b } }"
constexpr uint32_t	librealsense::legacy_file_format::EXPOSURE_TIME = 65538
constexpr const char *	librealsense::legacy_file_format::EXTENDED_STATUS = "{ 0xff6e50db, 0x3c5f, 0x43e7,{ 0xb4, 0x82, 0xb8, 0xc3, 0xa6, 0x8e, 0x78, 0xcd } }"
constexpr const char *	librealsense::legacy_file_format::FISHEYE = "FISHEYE"
constexpr uint32_t	librealsense::legacy_file_format::frame_counter = 2
constexpr uint32_t	librealsense::legacy_file_format::FRAME_LENGTH = 65539
constexpr const char *	librealsense::FRAME_NUMBER_MD_STR = "Frame number"
constexpr uint32_t	librealsense::legacy_file_format::frame_timestamp = 3
constexpr const char *	librealsense::FRAME_TIMESTAMP_MD_STR = "frame_timestamp"
constexpr const char *	librealsense::legacy_file_format::FW_VERSION = "{ 0x7b79605b, 0x5e36, 0x4abe,{ 0xb1, 0x01, 0x94, 0x86, 0xb8, 0x9a, 0xfe, 0xbe } }"
constexpr uint32_t	librealsense::legacy_file_format::gain_level = 5
constexpr const char *	librealsense::legacy_file_format::GYRO = "GYROMETER"
constexpr const char *	librealsense::legacy_file_format::HW_VERSION = "{ 0x4439fcca, 0x8673, 0x4851,{ 0x9b, 0xb6, 0x1a, 0xab, 0xbd, 0x74, 0xbd, 0xdc } }"
constexpr const char *	librealsense::legacy_file_format::INFRARED = "INFRARED"
constexpr const char *	librealsense::MAPPER_CONFIDENCE_MD_STR = "Mapper Confidence"
constexpr const char *	librealsense::legacy_file_format::POSE = "rs_6DoF"
constexpr const char *	librealsense::legacy_file_format::ROM_VERSION = "{ 0x16a64010, 0xfee4, 0x4c67,{ 0xae, 0xc5, 0xa0, 0x4d, 0xff, 0x06, 0xeb, 0x0b } }"
constexpr uint32_t	librealsense::legacy_file_format::sensor_timestamp = 4
constexpr const char *	librealsense::legacy_file_format::SERIAL_NUMBER = "{ 0x7d3e44e7, 0x8970, 0x4a32,{ 0x8e, 0xee, 0xe8, 0xd1, 0xd1, 0x32, 0xa3, 0x22 } }"
constexpr const char *	librealsense::legacy_file_format::STATUS = "{ 0x5d6c6637, 0x28c7, 0x4a90,{ 0xab, 0x35, 0x90, 0xb2, 0x1f, 0x1a, 0xe6, 0xb8 } }"
constexpr const char *	librealsense::legacy_file_format::STATUS_CODE = "{ 0xe22a94a6, 0xed64, 0x46ea,{ 0x81, 0x52, 0x6a, 0xb3, 0x0b, 0x0e, 0x2a, 0x18 } }"
constexpr const char *	librealsense::SYSTEM_TIME_MD_STR = "system_time"
constexpr uint32_t	librealsense::legacy_file_format::SYSTEM_TIMESTAMP = 65536
constexpr uint32_t	librealsense::legacy_file_format::TEMPRATURE = 65537
constexpr uint32_t	librealsense::legacy_file_format::time_of_arrival = 8
constexpr const char *	librealsense::TIMESTAMP_DOMAIN_MD_STR = "timestamp_domain"
constexpr const char *	librealsense::legacy_file_format::TIMESTAMP_SORT_TYPE = "{ 0xb409b217, 0xe5cd, 0x4a04,{ 0x9e, 0x85, 0x1a, 0x7d, 0x59, 0xd7, 0xe5, 0x61 } }"
constexpr const char *	librealsense::legacy_file_format::TM_DEVICE_TYPE = "{ 0x1212e1d5, 0xfa3e, 0x4273,{ 0x9e, 0xbf, 0xe4, 0x43, 0x87, 0xbe, 0xe5, 0xe8 } }"
constexpr const char *	librealsense::TRACKER_CONFIDENCE_MD_STR = "Tracker Confidence"
constexpr const char *	librealsense::legacy_file_format::USB_DESCRIPTOR = "{ 0x94b5fb99, 0x79f2, 0x4d66,{ 0x85, 0x06, 0xb1, 0x5e, 0x8b, 0x8c, 0x9d, 0xa1 } }"
constexpr uint32_t	librealsense::legacy_file_format::white_balance = 7

Enumeration Type Documentation

enum ros_file_versions

Enumerator
ROS_FILE_VERSION_2
ROS_FILE_VERSION_3
ROS_FILE_WITH_RECOMMENDED_PROCESSING_BLOCKS

Definition at line 33 of file ros_file_format.h.