bag_helper.py
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32 
33 """
34 Helper functions for bag files and timestamps.
35 """
36 
37 import math
38 import time
39 import rospy
40 
41 
42 def stamp_to_str(t):
43  """
44  Convert a rospy.Time to a human-readable string.
45 
46  @param t: time to convert
47  @type t: rospy.Time
48  """
49  t_sec = t.to_sec()
50  if t < rospy.Time.from_sec(60 * 60 * 24 * 365 * 5):
51  # Display timestamps earlier than 1975 as seconds
52  return '%.3fs' % t_sec
53  else:
54  return time.strftime('%b %d %Y %H:%M:%S', time.localtime(t_sec)) + '.%03d' % (t.nsecs / 1000000)
55 
56 
57 def get_topics(bag):
58  """
59  Get an alphabetical list of all the unique topics in the bag.
60 
61  @return: sorted list of topics
62  @rtype: list of str
63  """
64  return sorted(set([c.topic for c in bag._get_connections()]))
65 
66 
67 def get_start_stamp(bag):
68  """
69  Get the earliest timestamp in the bag.
70 
71  @param bag: bag file
72  @type bag: rosbag.Bag
73  @return: earliest timestamp
74  @rtype: rospy.Time
75  """
76  start_stamp = None
77  for connection_start_stamp in [index[0].time for index in bag._connection_indexes.values()]:
78  if not start_stamp or connection_start_stamp < start_stamp:
79  start_stamp = connection_start_stamp
80  return start_stamp
81 
82 
83 def get_end_stamp(bag):
84  """
85  Get the latest timestamp in the bag.
86 
87  @param bag: bag file
88  @type bag: rosbag.Bag
89  @return: latest timestamp
90  @rtype: rospy.Time
91  """
92  end_stamp = None
93  for connection_end_stamp in [index[-1].time for index in bag._connection_indexes.values()]:
94  if not end_stamp or connection_end_stamp > end_stamp:
95  end_stamp = connection_end_stamp
96 
97  return end_stamp
98 
99 
101  """
102  Get all the message types in the bag and their associated topics.
103 
104  @param bag: bag file
105  @type bag: rosbag.Bag
106  @return: mapping from message typename to list of topics
107  @rtype: dict of str to list of str
108  """
109  topics_by_datatype = {}
110  for c in bag._get_connections():
111  topics_by_datatype.setdefault(c.datatype, []).append(c.topic)
112 
113  return topics_by_datatype
114 
115 
116 def get_datatype(bag, topic):
117  """
118  Get the datatype of the given topic.
119 
120  @param bag: bag file
121  @type bag: rosbag.Bag
122  @return: message typename
123  @rtype: str
124  """
125  for c in bag._get_connections(topic):
126  return c.datatype
127 
128  return None
129 
130 
131 def filesize_to_str(size):
132  size_name = ('B', 'KB', 'MB', 'GB', 'TB', 'PB', 'EB', 'ZB', 'YB')
133  i = int(math.floor(math.log(size, 1024)))
134  p = math.pow(1024, i)
135  s = round(size / p, 2)
136  if s > 0:
137  return '%s %s' % (s, size_name[i])
138  return '0 B'
def filesize_to_str(size)
Definition: bag_helper.py:131
def get_end_stamp(bag)
Definition: bag_helper.py:83
def get_start_stamp(bag)
Definition: bag_helper.py:67
def get_topics(bag)
Definition: bag_helper.py:57
def get_datatype(bag, topic)
Definition: bag_helper.py:116
def get_topics_by_datatype(bag)
Definition: bag_helper.py:100


rqt_bag
Author(s): Dirk Thomas , Aaron Blasdel , Austin Hendrix , Tim Field
autogenerated on Fri Mar 3 2023 03:45:54