check_delay.py
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00001 #!/usr/bin/python
00002 """
00003 Copyright (c) 2012,
00004 Systems, Robotics and Vision Group
00005 University of the Balearican Islands
00006 All rights reserved.
00007 
00008 Redistribution and use in source and binary forms, with or without
00009 modification, are permitted provided that the following conditions are met:
00010     * Redistributions of source code must retain the above copyright
00011       notice, this list of conditions and the following disclaimer.
00012     * Redistributions in binary form must reproduce the above copyright
00013       notice, this list of conditions and the following disclaimer in the
00014       documentation and/or other materials provided with the distribution.
00015     * Neither the name of Systems, Robotics and Vision Group, University of 
00016       the Balearican Islands nor the names of its contributors may be used to 
00017       endorse or promote products derived from this software without specific 
00018       prior written permission.
00019 
00020 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00021 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00022 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00023 DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
00024 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00025 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00026 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00027 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00028 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00029 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00030 """
00031 
00032 
00033 PKG = 'bag_tools' # this package name
00034 
00035 import roslib; roslib.load_manifest(PKG)
00036 import rospy
00037 import rosbag
00038 import os
00039 import sys
00040 import argparse
00041 
00042 def check_delay(inbags):
00043   delays = {}
00044   for inbag in inbags:
00045     print '   Processing input bagfile: ', inbag
00046     for topic, msg, t in rosbag.Bag(inbag,'r').read_messages():
00047       if topic == "/tf":
00048         for transform in msg.transforms:
00049           delay = abs((t - transform.header.stamp).to_sec())
00050           key = "/tf: " + transform.header.frame_id + " -> " + transform.child_frame_id
00051           if key not in delays:
00052             delays[key] = []
00053           delays[key].append(delay)
00054       elif msg._has_header:
00055         key = topic
00056         if key not in delays:
00057           delays[key] = []
00058         delay = abs((t - msg.header.stamp).to_sec())
00059         delays[key].append(delay)
00060   max_len = max(len(topic) for topic in delays.keys())
00061   topics = delays.keys()
00062   topics.sort()
00063   for topic in topics:
00064     delay_list = delays[topic]
00065     delay_list.sort()
00066     dmin, dmax, dmean = min(delay_list), max(delay_list), sum(delay_list)/len(delay_list)
00067     dmedian = delay_list[len(delay_list)/2]
00068     print topic.ljust(max_len + 2), ": mean = ", dmean, ", min = ", dmin, ", max = ", dmax, ", median = ", dmedian
00069 
00070 
00071 if __name__ == "__main__":
00072   parser = argparse.ArgumentParser(
00073       description='Checks the delay in a bagfile between publishing (recording) '
00074                   'time and the time stamp in the header (if exists). Prints '
00075                   'out min, max and mean delays.')
00076   parser.add_argument('inbag', help='input bagfile(s)', nargs='+')
00077   args = parser.parse_args()
00078   try:
00079     check_delay(args.inbag)
00080   except Exception, e:
00081     import traceback
00082     traceback.print_exc()


bag_tools
Author(s): Stephan Wirth and Miquel Massot
autogenerated on Mon Jan 6 2014 11:48:57