Classes
struct	AVFrameClose

struct	AVPacketClose

class	ExifBaseMetadataExtractor
	Common base for all metadata extractors that utilize EXIF data. More...

struct	ExifData

class	FileMetadataExtractor
	Extractor of metadata from filesystem properties of the movie file. More...

struct	FileMetadataExtractorPlugin
	Loader plugin for FileMetadataExtractor. More...

class	FilenameMetadataExtractor
	Extractor of metadata from filename. More...

struct	FilenameMetadataExtractorPlugin
	Loader plugin for FilenameMetadataExtractor. More...

struct	LatestMetadataCache
	Latest metadata of each type. More...

class	LibavStreamMetadataExtractor
	Extractor of metadata from an open LibAV stream. More...

struct	LibavStreamMetadataExtractorPlugin
	Loader plugin for LibabStreamMetadataExtractor. More...

struct	MetadataCache
	Metadata cache. More...

class	MetadataExtractor
	Extractor of metadata about a movie or image. More...

struct	MetadataExtractorParams
	Parameters passed to the extractor plugins when initializing them. More...

struct	MetadataExtractorPlugin
	Helper structure that handles instantiation of an extractor. More...

class	MetadataManager
	Manager of multiple image metadata providers which can cooperate in parsing. More...

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

struct	MovieInfo
	Basic information about an open movie. More...

class	MovieMetadataListener

class	MovieMetadataProcessor
	Base for consumers of movie metadata. More...

struct	MovieOpenConfig
	Configuration specifying what movie file to open and how. More...

struct	MoviePlaybackState
	State of movie playback. More...

struct	MoviePrivate
	PIMPL structure for Movie. More...

class	MovieReader
	Helper class for opening movie files. More...

class	MovieReaderRos
	MovieReader preconfigured from ROS parameters. More...

class	MovieToBag
	Convert movie files and their metadata to ROS bag file. More...

class	MovieToBagMetadataProcessor

struct	PriorityComparator

struct	RationalNumber
	A simple representation of rational numbers of the form numerator/denominator. More...

class	StackGuard
	RAII guard saving a function call to stack. Can be used to protect against infinite recursion. More...

class	StreamDuration
	Duration type denoting movie stream duration. More...

class	StreamTime
	Time type denoting movie stream time. More...

struct	TimedMetadata
	Timestamping wrapper for any kind of metadata. More...

struct	TimedMetadataCache
	Metadata cache. More...

class	TimedMetadataExtractor
	Extractor of timed metadata. More...

struct	TimedMetadataListener
	Listener of decoded timed metadata. More...

Typedefs
using	AVFramePtr = std::unique_ptr< AVFrame, AVFrameClose >

using	AVPacketPtr = std::unique_ptr< AVPacket, AVPacketClose >

using	Distortion = sensor_msgs::CameraInfo::_D_type

using	DistortionData = std::pair< DistortionType, Distortion >

using	DistortionType = sensor_msgs::CameraInfo::_distortion_model_type

typedef std::string	ExifAscii

typedef uint8_t	ExifByte

typedef uint32_t	ExifLong

typedef double	ExifRational

typedef uint16_t	ExifShort

typedef int32_t	ExifSLong

typedef double	ExifSRational

typedef int16_t	ExifSShort

typedef std::vector< uint8_t >	ExifUnknown

using	GNSSFixAndDetail = std::pair< cras::optional< sensor_msgs::NavSatFix >, cras::optional< gps_common::GPSFix > >

using	IntrinsicMatrix = sensor_msgs::CameraInfo::_K_type

using	MovieConstPtr = std::shared_ptr< const Movie >

using	MoviePtr = std::shared_ptr< Movie >

using	RollPitch = std::pair< double, double >

using	SensorSize = std::pair< double, double >

Enumerations
enum	MetadataType { MetadataType::CAMERA_GENERAL_NAME, MetadataType::CAMERA_UNIQUE_NAME, MetadataType::CAMERA_SERIAL_NUMBER, MetadataType::CAMERA_MAKE, MetadataType::CAMERA_MODEL, MetadataType::LENS_MAKE, MetadataType::LENS_MODEL, MetadataType::CREATION_TIME, MetadataType::ROTATION, MetadataType::CROP_FACTOR, MetadataType::SENSOR_SIZE_MM, MetadataType::FOCAL_LENGTH_35MM, MetadataType::FOCAL_LENGTH_MM, MetadataType::FOCAL_LENGTH_PX, MetadataType::INTRINSIC_MATRIX, MetadataType::DISTORTION, MetadataType::GNSS_POSITION, MetadataType::AZIMUTH, MetadataType::MAGNETIC_FIELD, MetadataType::ROLL_PITCH, MetadataType::ACCELERATION, MetadataType::ANGULAR_VELOCITY, MetadataType::FACES, MetadataType::CAMERA_INFO, MetadataType::IMU, MetadataType::OPTICAL_FRAME_TF, MetadataType::ZERO_ROLL_PITCH_TF }
	Enum for supported metadata. More...

enum	TimestampSource { TimestampSource::AllZeros, TimestampSource::AbsoluteVideoTimecode, TimestampSource::RelativeVideoTimecode, TimestampSource::RosTime, TimestampSource::FromMetadata }
	How to compute ROS timestamps from movie frame presentation timestamp (PTS). More...

Functions
cras::expected< std::string, std::string >	avPixFmtToRosEncoding (const AVPixelFormat &libavPixelFormat)
	Map Libav pixel formats to ROS image encodings. More...

template<typename M >
static bool	CompareStamp (const TimedMetadata< M > &a, const StreamTime &b)
	Compare TimedMetadata according to their stamps (in decreasing order). More...

template<typename M >
auto	findLastUpToStamp (const std::vector< TimedMetadata< M >> &data, const StreamTime &stamp)
	Find index of the latest data from `data` that have their timestamp less than or equal to `stamp`. More...

template<typename M >
cras::optional< TimedMetadata< M > >	findLastUpToStamp (const std::vector< TimedMetadata< M >> &data, const StreamTime &stamp, const cras::optional< M > &defaultVal)
	Find the latest data from `data` that have their timestamp less than or equal to `stamp`. More...

template<typename T >
T	parseTimeParam (const XmlRpc::XmlRpcValue &param)
	Parse time or duration in several formats. More...

bool	parseTimestampOffset (const std::unordered_map< std::string, double > &extraVars, const XmlRpc::XmlRpcValue &param, double &value, bool skipNonConvertible, std::list< std::string > *errors)
	Parse the given timestamp offset. More...

TimestampSource	parseTimestampSource (const std::string &param)
	Parse TimestampSource from text. More...

cras::expected< AVPixelFormat, std::string >	rosEncodingToAvPixFmt (const std::string &rosEncoding)
	Map ROS image encodings to Libav pixel formats. More...

std::string	timestampSourceToStr (const TimestampSource &source)
	Convert the given TimestampSource to text. More...

template<typename M >
M	updateHeader (const M &msg, const ros::Time &stamp, const std::string &frameId)

Typedef Documentation

◆ AVFramePtr

using movie_publisher::AVFramePtr = typedef std::unique_ptr<AVFrame, AVFrameClose>

Definition at line 64 of file movie_private.h.

◆ AVPacketPtr

using movie_publisher::AVPacketPtr = typedef std::unique_ptr<AVPacket, AVPacketClose>

Definition at line 58 of file movie_private.h.

◆ Distortion

using movie_publisher::Distortion = typedef sensor_msgs::CameraInfo::_D_type

Definition at line 59 of file metadata_type.h.

◆ DistortionData

using movie_publisher::DistortionData = typedef std::pair<DistortionType, Distortion>

Definition at line 60 of file metadata_type.h.

◆ DistortionType

using movie_publisher::DistortionType = typedef sensor_msgs::CameraInfo::_distortion_model_type

Definition at line 58 of file metadata_type.h.

◆ ExifAscii

typedef std::string movie_publisher::ExifAscii

Definition at line 30 of file ExifBaseMetadataExtractor.h.

◆ ExifByte

typedef uint8_t movie_publisher::ExifByte

Definition at line 31 of file ExifBaseMetadataExtractor.h.

◆ ExifLong

typedef uint32_t movie_publisher::ExifLong

Definition at line 34 of file ExifBaseMetadataExtractor.h.

◆ ExifRational

typedef double movie_publisher::ExifRational

Definition at line 36 of file ExifBaseMetadataExtractor.h.

◆ ExifShort

typedef uint16_t movie_publisher::ExifShort

Definition at line 32 of file ExifBaseMetadataExtractor.h.

◆ ExifSLong

typedef int32_t movie_publisher::ExifSLong

Definition at line 35 of file ExifBaseMetadataExtractor.h.

◆ ExifSRational

typedef double movie_publisher::ExifSRational

Definition at line 37 of file ExifBaseMetadataExtractor.h.

◆ ExifSShort

typedef int16_t movie_publisher::ExifSShort

Definition at line 33 of file ExifBaseMetadataExtractor.h.

◆ ExifUnknown

typedef std::vector<uint8_t> movie_publisher::ExifUnknown

Definition at line 38 of file ExifBaseMetadataExtractor.h.

◆ GNSSFixAndDetail

using movie_publisher::GNSSFixAndDetail = typedef std::pair<cras::optional<sensor_msgs::NavSatFix>, cras::optional<gps_common::GPSFix> >

Definition at line 61 of file metadata_type.h.

◆ IntrinsicMatrix

using movie_publisher::IntrinsicMatrix = typedef sensor_msgs::CameraInfo::_K_type

Definition at line 57 of file metadata_type.h.

◆ MovieConstPtr

using movie_publisher::MovieConstPtr = typedef std::shared_ptr<const Movie>

Definition at line 186 of file movie.h.

◆ MoviePtr

using movie_publisher::MoviePtr = typedef std::shared_ptr<Movie>

Definition at line 185 of file movie.h.

◆ RollPitch

using movie_publisher::RollPitch = typedef std::pair<double, double>

Definition at line 63 of file metadata_type.h.

◆ SensorSize

using movie_publisher::SensorSize = typedef std::pair<double, double>

Definition at line 62 of file metadata_type.h.

Enumeration Type Documentation

◆ MetadataType

enum movie_publisher::MetadataType

strong

Enum for supported metadata.

Enumerator
CAMERA_GENERAL_NAME
CAMERA_UNIQUE_NAME
CAMERA_SERIAL_NUMBER
CAMERA_MAKE
CAMERA_MODEL
LENS_MAKE
LENS_MODEL
CREATION_TIME
ROTATION
CROP_FACTOR
SENSOR_SIZE_MM
FOCAL_LENGTH_35MM
FOCAL_LENGTH_MM
FOCAL_LENGTH_PX
INTRINSIC_MATRIX
DISTORTION
GNSS_POSITION
AZIMUTH
MAGNETIC_FIELD
ROLL_PITCH
ACCELERATION
ANGULAR_VELOCITY
FACES
CAMERA_INFO
IMU
OPTICAL_FRAME_TF
ZERO_ROLL_PITCH_TF

Definition at line 26 of file metadata_type.h.

◆ TimestampSource

enum movie_publisher::TimestampSource

strong

How to compute ROS timestamps from movie frame presentation timestamp (PTS).

Enumerator
AllZeros	ROS timestamp is always 0.
AbsoluteVideoTimecode	Just use the PTS as is.
RelativeVideoTimecode	Use PTS, but make it relative to the time set by last seek() call.
RosTime	Use current ROS time.
FromMetadata	Use PTS and offset it by the start time recorded in movie metadata.

Definition at line 192 of file types.h.

Function Documentation

◆ avPixFmtToRosEncoding()

cras::expected<std::string, std::string> movie_publisher::avPixFmtToRosEncoding ( const AVPixelFormat & libavPixelFormat )

Map Libav pixel formats to ROS image encodings.

Parameters

[in] libavPixelFormat Libav pixel format.

Returns: Corresponding ROS image encoding, or error if no conversion exists.

◆ CompareStamp()

template<typename M >

static bool movie_publisher::CompareStamp	(	const TimedMetadata< M > &	a,
		const StreamTime &	b
	)

static

Compare TimedMetadata according to their stamps (in decreasing order).

Template Parameters

M	Type of the metadata.

Parameters

[in]	a	The timed metadata to compare.
[in]	b	The timestamp to compare with.

Returns: Whether a stamp is greater than b.

Definition at line 214 of file metadata_cache.h.

◆ findLastUpToStamp() [1/2]

template<typename M >

auto movie_publisher::findLastUpToStamp	(	const std::vector< TimedMetadata< M >> &	data,
		const StreamTime &	stamp
	)

Find index of the latest data from data that have their timestamp less than or equal to stamp.

Template Parameters

M	Metadata type.

Parameters

[in]	data	A stamp-ordered list of metadata.
[in]	stamp	The maximum timestamp.

Returns: Index of the latest data up to stamp.

Definition at line 227 of file metadata_cache.h.

◆ findLastUpToStamp() [2/2]

template<typename M >

cras::optional<TimedMetadata<M> > movie_publisher::findLastUpToStamp	(	const std::vector< TimedMetadata< M >> &	data,
		const StreamTime &	stamp,
		const cras::optional< M > &	defaultVal
	)

Find the latest data from data that have their timestamp less than or equal to stamp.

Template Parameters

M	Metadata type.

Parameters

[in]	data	A stamp-ordered list of metadata.
[in]	stamp	The maximum timestamp.
[in]	defaultVal	The default value to return in case no value was found in `data`.

Returns: The latest data up to stamp.

Definition at line 241 of file metadata_cache.h.

◆ parseTimeParam()

template<typename T >

T movie_publisher::parseTimeParam ( const XmlRpc::XmlRpcValue & param )

Parse time or duration in several formats.

Template Parameters

T	ros::Time or ros::Duration

Parameters

[in] param The parameter to parse. Can be float seconds (15.35), tuple (min, sec), tuple (hour, min, sec) or as a string:‘'01:03:05.35’`.

Returns: The parsed time value.

◆ parseTimestampOffset()

bool movie_publisher::parseTimestampOffset	(	const std::unordered_map< std::string, double > &	extraVars,
		const XmlRpc::XmlRpcValue &	param,
		double &	value,
		bool	skipNonConvertible,
		std::list< std::string > *	errors
	)

Parse the given timestamp offset.

Parameters

[in]	extraVars	Extra variables that should be resolved by the expression parser.
[in]	param	The ROS parameter. Can be either int, double or string. If string, it can contain a mathematical expression with several predefined values: `ros_time` (current ROS time), `wall_time` (current wall time) and other variables defined in extraVars.
[out]	value	The output value.
[in]	skipNonConvertible	No effect.
[in]	errors	List of encountered errors. Can be nullptr.

Returns: Whether the conversion to value succeeded.

◆ parseTimestampSource()

TimestampSource movie_publisher::parseTimestampSource ( const std::string & param )

Parse TimestampSource from text.

Parameters

[in] param The text to parse.

Returns: The timestamp source or error.

◆ rosEncodingToAvPixFmt()

cras::expected<AVPixelFormat, std::string> movie_publisher::rosEncodingToAvPixFmt ( const std::string & rosEncoding )

Map ROS image encodings to Libav pixel formats.

Parameters

[in] rosEncoding ROS image encoding.

Returns: Corresponding libav pixel format, or error if no conversion exists.

◆ timestampSourceToStr()

std::string movie_publisher::timestampSourceToStr ( const TimestampSource & source )

Convert the given TimestampSource to text.

Parameters

[in] source The timestamp source.

Returns: The text representing the timestamp source, or an error.

◆ updateHeader()

template<typename M >

M movie_publisher::updateHeader	(	const M &	msg,
		const ros::Time &	stamp,
		const std::string &	frameId
	)

Definition at line 67 of file movie_private.h.

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ AVFramePtr

◆ AVPacketPtr

◆ Distortion

◆ DistortionData

◆ DistortionType

◆ ExifAscii

◆ ExifByte

◆ ExifLong

◆ ExifRational

◆ ExifShort

◆ ExifSLong

◆ ExifSRational

◆ ExifSShort

◆ ExifUnknown

◆ GNSSFixAndDetail

◆ IntrinsicMatrix

◆ MovieConstPtr

◆ MoviePtr

◆ RollPitch

◆ SensorSize

Enumeration Type Documentation

◆ MetadataType

◆ TimestampSource

Function Documentation

◆ avPixFmtToRosEncoding()

◆ CompareStamp()

◆ findLastUpToStamp() [1/2]

◆ findLastUpToStamp() [2/2]

◆ parseTimeParam()

◆ parseTimestampOffset()

◆ parseTimestampSource()

◆ rosEncodingToAvPixFmt()

◆ timestampSourceToStr()

◆ updateHeader()