An open movie that can be read, seeked and closed. More...

#include <movie.h>

Inheritance diagram for movie_publisher::Movie:

Public Member Functions
const MovieOpenConfig &	config () const

MovieInfo::ConstPtr	info () const

	Movie (const cras::LogHelperPtr &log, const MovieOpenConfig &config)
	Open a movie in the referenced file. More...

virtual cras::expected< std::pair< MoviePlaybackState, sensor_msgs::ImageConstPtr >, std::string >	nextFrame ()
	Generator returning next frame of the movie on each call. More...

MoviePlaybackState::ConstPtr	playbackState () const

cras::expected< void, std::string >	seek (const StreamTime &time)
	Seek the movie to the given time (relative to the start of the movie). More...

virtual cras::expected< void, std::string >	seekInSubclip (const StreamTime &time)
	Seek the movie to the given time (relative to the start of the subclip). More...

cras::expected< void, std::string >	setSubClip (const cras::optional< StreamTime > &start, const cras::optional< StreamTime > &end, const cras::optional< StreamDuration > &duration)
	Limit the part of the movie returned by nextFrame() calls to the given subclip. More...

virtual void	setTimestampOffset (const ros::Duration &offset)
	Set the offset of the computed ROS timestamps relative to the reference time. More...

virtual MetadataExtractor::Ptr	staticMetadata () const

virtual	~Movie ()

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Protected Member Functions
MovieOpenConfig &	_config ()

MovieInfo::Ptr	_info ()

MoviePlaybackState::Ptr	_playbackState ()

virtual void	close ()
	Close the movie, free all acquired resources. More...

virtual cras::expected< void, std::string >	open ()
	Open the file configured in the `config` object passed to constructor. More...

virtual cras::expected< void, std::string >	seek (const StreamTime &time, bool allowReopen)
	Seek the movie to the given time (relative to the start of the movie). More...

virtual cras::expected< void, std::string >	setSubClip (const cras::optional< StreamTime > &start, const cras::optional< StreamTime > &end, const cras::optional< StreamDuration > &duration, bool allowReopen)
	Limit the part of the movie returned by nextFrame() calls to the given subclip. More...

Private Attributes
std::unique_ptr< MoviePrivate >	data
	PIMPL. More...

Additional Inherited Members
Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Detailed Description

An open movie that can be read, seeked and closed.

Definition at line 35 of file movie.h.

Constructor & Destructor Documentation

◆ Movie()

movie_publisher::Movie::Movie	(	const cras::LogHelperPtr &	log,
		const MovieOpenConfig &	config
	)

Open a movie in the referenced file.

Parameters

[in]	log	cras_cpp_common logging helper.
[in]	config	The configuration specifying what movie to open and how.

Exceptions

std::runtime_error If the movie cannot be opened.

◆ ~Movie()

virtual movie_publisher::Movie::~Movie ( )

virtual

Member Function Documentation

◆ _config()

MovieOpenConfig& movie_publisher::Movie::_config ( )

protected

Returns: The configuration with which the movie has been opened.

◆ _info()

MovieInfo::Ptr movie_publisher::Movie::_info ( )

protected

Returns: Basic information about the open movie.

◆ _playbackState()

MoviePlaybackState::Ptr movie_publisher::Movie::_playbackState ( )

protected

Returns: The current playback state (after the last call to nextFrame()).

◆ close()

virtual void movie_publisher::Movie::close ( )

protectedvirtual

Close the movie, free all acquired resources.

Note: This is automatically called in the destructor.

◆ config()

const MovieOpenConfig& movie_publisher::Movie::config ( ) const

Returns: The configuration with which the movie has been opened.

◆ info()

MovieInfo::ConstPtr movie_publisher::Movie::info ( ) const

Returns: Basic information about the open movie.

◆ nextFrame()

virtual cras::expected<std::pair<MoviePlaybackState, sensor_msgs::ImageConstPtr>, std::string> movie_publisher::Movie::nextFrame ( )

virtual

Generator returning next frame of the movie on each call.

On first call, this returns the first frame of the selected subclip. After seek(), this returns the first frame after the time it was seeked to.

Returns: The playback state and image. header.stamp of the image is the same as the rosTime of the playback state. It depends on what was set by setTimestampSource() and setTimestampOffset(). On error, an error message is returned. When a nullptr is returned for the image, the movie has reached its end and no more frames will be generated. This is also reflected in the playback state hasMovieEnded().

◆ open()

virtual cras::expected<void, std::string> movie_publisher::Movie::open ( )

protectedvirtual

Open the file configured in the config object passed to constructor.

Returns: Nothing or error.

◆ playbackState()

MoviePlaybackState::ConstPtr movie_publisher::Movie::playbackState ( ) const

Returns: The current playback state (after the last call to nextFrame()).

◆ seek() [1/2]

cras::expected<void, std::string> movie_publisher::Movie::seek ( const StreamTime & time )

Seek the movie to the given time (relative to the start of the movie).

Parameters

[in] time The stream time to seek to. It is invalid to seek outside the selected subclip.

Returns: Nothing or an error if seek failed.

See also: seekInSubclip()

◆ seek() [2/2]

virtual cras::expected<void, std::string> movie_publisher::Movie::seek	(	const StreamTime &	time,
		bool	allowReopen
	)

protectedvirtual

Seek the movie to the given time (relative to the start of the movie).

Parameters

[in] time The stream time to seek to. It is invalid to seek outside the selected subclip.

Returns: Nothing or an error if seek failed.

See also: seekInSubclip()

Parameters

[in] allowReopen Whether it is allowed to reopen the movie (set to false to break recursion).

◆ seekInSubclip()

virtual cras::expected<void, std::string> movie_publisher::Movie::seekInSubclip ( const StreamTime & time )

virtual

Seek the movie to the given time (relative to the start of the subclip).

Parameters

[in] time The subclip time to seek to. It is invalid to seek outside the selected subclip.

Returns: Nothing or an error if seek failed.

See also: seek()

◆ setSubClip() [1/2]

cras::expected<void, std::string> movie_publisher::Movie::setSubClip	(	const cras::optional< StreamTime > &	start,
		const cras::optional< StreamTime > &	end,
		const cras::optional< StreamDuration > &	duration
	)

Limit the part of the movie returned by nextFrame() calls to the given subclip.

When all arguments are empty, the whole movie is played. If only start is non-empty, the movie plays from start to movie end. If only end is non-empty, the movie plays from the movie start to end. If only duration is non-empty, the movie plays from the movie start for duration seconds. If only start and duration are non-empty, the movie plays from start to start+duration. If only end and duration are non-empty, the movie plays from end-duration to duration. If only start and end are non-empty, the movie plays from start to end.

Error is returned when either:

all three arguments are non-empty
the movie is non-seekable and start or end-duration is non-zero
start or end are outside the movie timeline
duration is longer than the movie
start + duration is outside the movie timeline
end - duration is outside the movie timeline
end is before start
seek failed

Note: This function calls seek() if the current position in the whole movie does not fit in the new subclip. If you want to seek to the start of the subclip for sure, call seekInSubClip(0).

Parameters

[in]	start	The start time (relative to movie start).
[in]	end	The end time (relative to movie start).
[in]	duration	The duration.

Returns: Nothing or error message.

◆ setSubClip() [2/2]

virtual cras::expected<void, std::string> movie_publisher::Movie::setSubClip	(	const cras::optional< StreamTime > &	start,
		const cras::optional< StreamTime > &	end,
		const cras::optional< StreamDuration > &	duration,
		bool	allowReopen
	)

protectedvirtual

Limit the part of the movie returned by nextFrame() calls to the given subclip.

Limit the part of the movie returned by nextFrame() calls to the given subclip. When all arguments are empty, the whole movie is played. If only start is non-empty, the movie plays from start to movie end. If only end is non-empty, the movie plays from the movie start to end. If only duration is non-empty, the movie plays from the movie start for duration seconds. If only start and duration are non-empty, the movie plays from start to start+duration. If only end and duration are non-empty, the movie plays from end-duration to duration. If only start and end are non-empty, the movie plays from start to end.

Error is returned when either:

all three arguments are non-empty
the movie is non-seekable and start or end-duration is non-zero
start or end are outside the movie timeline
duration is longer than the movie
start + duration is outside the movie timeline
end - duration is outside the movie timeline
end is before start
seek failed

Note: This function calls seek() if the current position in the whole movie does not fit in the new subclip. If you want to seek to the start of the subclip for sure, call seekInSubClip(0).

Parameters

[in]	start	The start time (relative to movie start).
[in]	end	The end time (relative to movie start).
[in]	duration	The duration.

Returns: Nothing or error message.

Parameters

[in] allowReopen Whether it is allowed to reopen the movie (set to false to break recursion).

◆ setTimestampOffset()

virtual void movie_publisher::Movie::setTimestampOffset ( const ros::Duration & offset )

virtual

Set the offset of the computed ROS timestamps relative to the reference time.

Parameters

[in] offset The offset.

◆ staticMetadata()

virtual MetadataExtractor::Ptr movie_publisher::Movie::staticMetadata ( ) const

virtual

Returns: The static metadata of the open movie.

Member Data Documentation

◆ data

std::unique_ptr<MoviePrivate> movie_publisher::Movie::data

private

PIMPL.

Definition at line 182 of file movie.h.

The documentation for this class was generated from the following file:

movie.h

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Movie()

◆ ~Movie()

Member Function Documentation

◆ _config()

◆ _info()

◆ _playbackState()

◆ close()

◆ config()

◆ info()

◆ nextFrame()

◆ open()

◆ playbackState()

◆ seek() [1/2]

◆ seek() [2/2]

◆ seekInSubclip()

◆ setSubClip() [1/2]

◆ setSubClip() [2/2]

◆ setTimestampOffset()

◆ staticMetadata()

Member Data Documentation

◆ data