read_rosbags.cpp File Reference

#include <bits/stdc++.h>
#include <boost/thread/thread.hpp>
#include <camera_info_manager/camera_info_manager.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <ros/ros.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <utility>
#include <vector>
#include <string>
#include <stdio.h>
#include <sensor_msgs/CompressedImage.h>
#include <compressed_depth_image_transport/rvl_codec.h>
#include <compressed_depth_image_transport/compression_common.h>

Include dependency graph for read_rosbags.cpp:

Go to the source code of this file.

Classes
struct	HeaderOfBinFile
	This structure indicates header of bin files. More...

Functions
void	arrangeFramesWithTimeStamps (const std::string &file_name, int num_depth_frames, int num_ab_frames)
	AB and depth images with the same timestamp are treated as frames and written to the final binary file, which is arranged in ascending order of timestamps. More...
bool	comparator (std::pair< long, int > &first_element, std::pair< long, int > &second_element)
	comparison function More...
void	deleteFile (std::string file_name)
	deleting the intermediate files. remove() function does not work with a null terminated string, so here null character at the end of the string is removed then passed remove function More...
void	findMissingABOrDepthFrames (const std::string &file_name, int num_depth_frames, int num_ab_frames)
	This function finds whether any depth frame do not have the AB frame corresponding to it. More...
int	main (int argc, char **argv)
	This is main function. More...
void	notifyFrameLoss (const std::string &file_name)
	Notifies if capture is less than 10FPS. More...
void	sort_map (std::map< long, int > &mapped_array)
	sorts the map More...
void	storeCameraTopicsInbinFile (std::string bag_file_name, std::vector< std::string > cam_name)
	Stores camera topics in binary file. More...

Variables
int	CAM_VERSION = 2

Function Documentation

arrangeFramesWithTimeStamps()

void arrangeFramesWithTimeStamps	(	const std::string &	file_name,
		int	num_depth_frames,
		int	num_ab_frames
	)

AB and depth images with the same timestamp are treated as frames and written to the final binary file, which is arranged in ascending order of timestamps.

Parameters

file_name	file name
num_depth_frames	number of depth frames
num_ab_frames	number of AB frames

Definition at line 282 of file read_rosbags.cpp.

comparator()

bool comparator	(	std::pair< long, int > &	first_element,
		std::pair< long, int > &	second_element
	)

comparison function

Parameters

first_element	first element
second_element	second element

Returns

true if first pair element's first value is less than second pair element's first value

false if first pair element's first value is greater than second pair element's first value

Definition at line 50 of file read_rosbags.cpp.

deleteFile()

void deleteFile

(

std::string

file_name

)

deleting the intermediate files. remove() function does not work with a null terminated string, so here null character at the end of the string is removed then passed remove function

Parameters

file_name

file name

Definition at line 85 of file read_rosbags.cpp.

findMissingABOrDepthFrames()

void findMissingABOrDepthFrames	(	const std::string &	file_name,
		int	num_depth_frames,
		int	num_ab_frames
	)

This function finds whether any depth frame do not have the AB frame corresponding to it.

Parameters

file_name	Input file name
num_depth_frames	Total number of depth frames
num_ab_frames	Total number of AB frames

Definition at line 113 of file read_rosbags.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

This is main function.

Parameters

argc	number of input arguments to the function
argv	array of pointer to the input arguments

Returns

int

Definition at line 675 of file read_rosbags.cpp.

notifyFrameLoss()

void notifyFrameLoss

(

const std::string &

file_name

)

Notifies if capture is less than 10FPS.

Parameters

file_name

file name

Definition at line 224 of file read_rosbags.cpp.

sort_map()

void sort_map

(

std::map< long, int > &

mapped_array

)

sorts the map

Parameters

mapped_array

input mapped array to sort function

Definition at line 60 of file read_rosbags.cpp.

storeCameraTopicsInbinFile()

void storeCameraTopicsInbinFile	(	std::string	bag_file_name,
		std::vector< std::string >	cam_name
	)

Stores camera topics in binary file.

Parameters

bag_file_name	input bag file name
cam_name	camera prefix names

Definition at line 410 of file read_rosbags.cpp.

Variable Documentation

CAM_VERSION

int CAM_VERSION = 2

Definition at line 22 of file read_rosbags.cpp.