stereo_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 <message_filters/subscriber.h>
00037 #include <message_filters/time_synchronizer.h>
00038 
00039 #include <sensor_msgs/Image.h>
00040 #include <sensor_msgs/CameraInfo.h>
00041 
00042 
00043 namespace bag_tools
00044 {
00045 
00050 template <class M>
00051 class BagSubscriber : public message_filters::SimpleFilter<M>
00052 {
00053 public:
00054   void newMessage(const boost::shared_ptr<M const> &msg)
00055   {
00056     signalMessage(msg);
00057   }
00058 };
00059 
00060 class StereoBagProcessor
00061 {
00062 
00063 public:
00064   StereoBagProcessor(const std::string& stereo_base_topic) :
00065     stereo_base_topic_(stereo_base_topic),
00066     sync_(l_img_sub_, r_img_sub_, l_info_sub_, r_info_sub_, 25)
00067   {
00068     ros::Time::init();
00069   }
00070 
00071   template<class C>
00072   void registerCallback(const C& callback)
00073   {
00074     sync_.registerCallback(callback);
00075   }
00076 
00081   void processBag(const std::string &filename)
00082   {
00083 
00084     // Image topics to load
00085     std::string l_cam = stereo_base_topic_ + "/left";
00086     std::string r_cam = stereo_base_topic_ + "/right";
00087     std::string l_cam_image = l_cam + "/image_raw";
00088     std::string r_cam_image = r_cam + "/image_raw";
00089     std::string l_cam_info = l_cam + "/camera_info";
00090     std::string r_cam_info = r_cam + "/camera_info";
00091 
00092     std::vector<std::string> topics;
00093     topics.push_back(l_cam_image);
00094     topics.push_back(r_cam_image);
00095     topics.push_back(l_cam_info);
00096     topics.push_back(r_cam_info);
00097 
00098     std::cout << "Starting processing " << filename << ", ";
00099     rosbag::Bag bag;
00100     bag.open(filename, rosbag::bagmode::Read);
00101     rosbag::View view(bag, rosbag::TopicQuery(topics));
00102 
00103     int num_messages = view.size();
00104     std::cout << num_messages << " messages to process." << std::endl;
00105 
00106     // Load all messages
00107     boost::progress_display show_progress(num_messages);
00108     BOOST_FOREACH(rosbag::MessageInstance const m, view)
00109     {
00110       if (m.getTopic() == l_cam_image || ("/" + m.getTopic() == l_cam_image))
00111       {
00112         sensor_msgs::Image::ConstPtr l_img = m.instantiate<sensor_msgs::Image>();
00113         if (l_img != NULL)
00114           l_img_sub_.newMessage(l_img);
00115       }
00116 
00117       if (m.getTopic() == r_cam_image || ("/" + m.getTopic() == r_cam_image))
00118       {
00119         sensor_msgs::Image::ConstPtr r_img = m.instantiate<sensor_msgs::Image>();
00120         if (r_img != NULL)
00121           r_img_sub_.newMessage(r_img);
00122       }
00123 
00124       if (m.getTopic() == l_cam_info || ("/" + m.getTopic() == l_cam_info))
00125       {
00126         sensor_msgs::CameraInfo::ConstPtr l_info = m.instantiate<sensor_msgs::CameraInfo>();
00127         if (l_info != NULL)
00128           l_info_sub_.newMessage(l_info);
00129       }
00130 
00131       if (m.getTopic() == r_cam_info || ("/" + m.getTopic() == r_cam_info))
00132       {
00133         sensor_msgs::CameraInfo::ConstPtr r_info = m.instantiate<sensor_msgs::CameraInfo>();
00134         if (r_info != NULL)
00135           r_info_sub_.newMessage(r_info);
00136       }
00137       ++show_progress;
00138     }
00139     bag.close();
00140     std::cout << "Finished processing " << filename << std::endl;
00141   }
00142 
00143 private:
00144 
00145   // Fake subscribers to capture images
00146   BagSubscriber<sensor_msgs::Image> l_img_sub_, r_img_sub_;
00147   BagSubscriber<sensor_msgs::CameraInfo> l_info_sub_, r_info_sub_;
00148 
00149   std::string stereo_base_topic_;
00150 
00151   message_filters::TimeSynchronizer<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> sync_;
00152 
00153 };
00154 
00155 } // end of namespace
00156 


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