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

#include <metadata_manager.h>

Inheritance diagram for movie_publisher::MetadataManager:

[legend]

Public Member Functions
void	addExtractor (const std::shared_ptr< MetadataExtractor > &extractor)
	Register a new extractor. More...

void	clearTimedMetadataCache ()
	Clear all cached timed metadata. More...

cras::optional< geometry_msgs::Vector3 >	getAcceleration () override

cras::optional< geometry_msgs::Vector3 >	getAngularVelocity () override

cras::optional< compass_msgs::Azimuth >	getAzimuth () override

std::shared_ptr< MetadataCache >	getCache ()
	Return the metadata cache. More...

cras::optional< std::string >	getCameraGeneralName () override

cras::optional< sensor_msgs::CameraInfo >	getCameraInfo () override

cras::optional< std::string >	getCameraMake () override

cras::optional< std::string >	getCameraModel () override

cras::optional< std::string >	getCameraSerialNumber () override

cras::optional< std::string >	getCameraUniqueName () override

cras::optional< ros::Time >	getCreationTime () override

cras::optional< double >	getCropFactor () override

cras::optional< std::pair< DistortionType, Distortion > >	getDistortion () override

cras::optional< vision_msgs::Detection2DArray >	getFaces () override

cras::optional< double >	getFocalLength35MM () override

cras::optional< double >	getFocalLengthMM () override

cras::optional< double >	getFocalLengthPx () override

GNSSFixAndDetail	getGNSSPosition () override

cras::optional< sensor_msgs::Imu >	getImu () override

cras::optional< IntrinsicMatrix >	getIntrinsicMatrix () override

cras::optional< std::string >	getLensMake () override

cras::optional< std::string >	getLensModel () override

cras::optional< sensor_msgs::MagneticField >	getMagneticField () override

std::string	getName () const override
	Return the name of the extractor. More...

cras::optional< geometry_msgs::Transform >	getOpticalFrameTF () override

int	getPriority () const override
	Return the priority of the extractor (for ordering in MetadataManager). More...

cras::optional< RollPitch >	getRollPitch () override

cras::optional< int >	getRotation () override

cras::optional< SensorSize >	getSensorSizeMM () override

cras::optional< geometry_msgs::Transform >	getZeroRollPitchTF () override

bool	hasTimedMetadata () const override

void	loadExtractorPlugins (const MetadataExtractorParams &params)
	Load all known extractors from plugins. More...

	MetadataManager (const cras::LogHelperPtr &log, const MovieOpenConfig &config, const MovieInfo::ConstPtr &info)
	Constructor. Each movie should have its own manager. More...

void	prepareTimedMetadata (const std::unordered_set< MetadataType > &metadataTypes) override
	Perform any required initialization of the extractor so that it is prepared to extract metadata of the given types. More...

void	processPacket (const AVPacket *packet) override
	Optional processing of libav packets as they are read from the movie file. More...

size_t	processTimedMetadata (MetadataType type, const StreamTime &maxTime, bool requireOptional) override
	Process timed metadata up until the time passed as parameter. More...

void	seekTimedMetadata (const StreamTime &seekTime) override
	Seek timed metadata to the given stream time. More...

std::unordered_set< MetadataType >	supportedTimedMetadata (const std::unordered_set< MetadataType > &availableMetadata) const override
	Get a list of timed metadata that are supported by this instance of the extractor based on the given available metadata. More...

	~MetadataManager () override

Public Member Functions inherited from movie_publisher::TimedMetadataExtractor
virtual void	addTimedMetadataListener (const std::shared_ptr< TimedMetadataListener > &listener)
	Add a new timed metadata listener. More...

	TimedMetadataExtractor (const cras::LogHelperPtr &log)

Public Member Functions inherited from movie_publisher::MetadataExtractor
	MetadataExtractor (const cras::LogHelperPtr &log)
	Constructor. More...

virtual	~MetadataExtractor ()

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Protected Member Functions
template<typename T , typename O = cras::optional<T>>
T	checkExtractors (const std::string &func, T(MetadataExtractor::getFn)(), O(LatestMetadataCache::getFnLatest)(), const std::string &frame="")
	Call the given function in all extractors and return and cache the first valid result. More...

bool	stopRecursion (const std::string &fn, const MetadataExtractor *extractor) const
	Check for infinite recursion when individual extractors call common methods via this manager. More...

Protected Attributes
std::shared_ptr< MetadataCache >	cache
	Cache of static and timed metadata. More...

std::deque< std::pair< std::string, const MetadataExtractor * > >	callStack
	The stack of all calls via the manager. More...

MovieOpenConfig	config
	Configuration of the open movie. More...

std::multiset< MetadataExtractor::Ptr, PriorityComparator >	extractors

size_t	height {0u}
	Height of the analyzed movie [px]. More...

MovieInfo::ConstPtr	info
	Information about the open movie. More...

pluginlib::ClassLoader< MetadataExtractorPlugin >	loader
	The extractor plugin loader. More...

std::shared_ptr< CachingMetadataListener >	metadataListener
	The timed metadata listener proxy passed to all timed extractors to collect and cache their output. More...

friend	StackGuard

std::multiset< TimedMetadataExtractor::Ptr, PriorityComparator >	timedExtractors
	Registered timed extractor instances. More...

size_t	width {0u}
	Width of the analyzed movie [px]. More...

Protected Attributes inherited from movie_publisher::TimedMetadataExtractor
std::vector< TimedMetadataListener::Ptr >	listeners
	The listeners whose callbacks should be called. More...

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Additional Inherited Members
Public Types inherited from movie_publisher::TimedMetadataExtractor
using	ConstPtr = std::shared_ptr< const TimedMetadataExtractor >

using	Ptr = std::shared_ptr< TimedMetadataExtractor >

Public Types inherited from movie_publisher::MetadataExtractor
using	ConstPtr = std::shared_ptr< const MetadataExtractor >

using	Ptr = std::shared_ptr< MetadataExtractor >

Detailed Description

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

The manager itself behaves like a metadata extractor, but it doesn't extract much itself. Most of the work is relayed to the loaded extractor plugins. The manager takes the first valid result and caches it, so that subsequent calls for the same data will just re-use the cache.

If you pass the manager to the extractor plugins, make sure you pass a std::weak_ptr and not normal std::shared_ptr. The weak pointer will break reference cycle which would otherwise be inevitable (because the manager holds pointers to the extractors).

The manager also processes timed metadata. When timed metadata are advanced using processTimedMetadata(), the cached return values of some of the get*() functions will get recomputed so that these functions always return metadata that are closest to the current playback state.

Definition at line 65 of file metadata_manager.h.

Constructor & Destructor Documentation

◆ MetadataManager()

movie_publisher::MetadataManager::MetadataManager	(	const cras::LogHelperPtr &	log,
		const MovieOpenConfig &	config,
		const MovieInfo::ConstPtr &	info
	)

Constructor. Each movie should have its own manager.

Parameters

[in]	log	Logger.
[in]	width	Width of the parsed movie.
[in]	height	Height of the parsed movie.

◆ ~MetadataManager()

movie_publisher::MetadataManager::~MetadataManager ( )

override

Member Function Documentation

◆ addExtractor()

void movie_publisher::MetadataManager::addExtractor ( const std::shared_ptr< MetadataExtractor > & extractor )

Register a new extractor.

Parameters

[in] extractor The new extractor to register.

◆ checkExtractors()

template<typename T , typename O = cras::optional<T>>

T movie_publisher::MetadataManager::checkExtractors	(	const std::string &	func,
		T(MetadataExtractor::*)()	getFn,
		O(LatestMetadataCache::*)()	getFnLatest,
		const std::string &	frame = `""`
	)

protected

Call the given function in all extractors and return and cache the first valid result.

Template Parameters

T	Type of the metadata (including cras::optional<>).
O	Always cras::optional<T>. This parameter is only added to help template resolution.

Parameters

[in]	func	Name of the calling function (used in call stack, should be unique per call site).
[in]	getFn	Function that gets the metadata value by calling this manager.
[in]	getFnLatest	Function that reads the metadata value from latest values cache.
[in]	frame	Optional frame_id to be set to the extracted messages (only if they don't specify any frame).

◆ clearTimedMetadataCache()

void movie_publisher::MetadataManager::clearTimedMetadataCache ( )

Clear all cached timed metadata.

◆ getAcceleration()

cras::optional<geometry_msgs::Vector3> movie_publisher::MetadataManager::getAcceleration ( )

overridevirtual

Returns: Acceleration vector acting on the camera when capturing the frame (including gravity) [m/s^2].

Reimplemented from movie_publisher::MetadataExtractor.

◆ getAngularVelocity()

cras::optional<geometry_msgs::Vector3> movie_publisher::MetadataManager::getAngularVelocity ( )

overridevirtual

Returns: Angular velocity acting on the camera when capturing the frame. [rad/s].

Reimplemented from movie_publisher::MetadataExtractor.

◆ getAzimuth()

cras::optional<compass_msgs::Azimuth> movie_publisher::MetadataManager::getAzimuth ( )

overridevirtual

Returns: Azimuth describing global camera heading when capturing the frame. Timestamp is zero.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getCache()

std::shared_ptr<MetadataCache> movie_publisher::MetadataManager::getCache ( )

Return the metadata cache.

Returns: The metadata cache.

◆ getCameraGeneralName()

cras::optional<std::string> movie_publisher::MetadataManager::getCameraGeneralName ( )

overridevirtual

Returns: String describing the complete camera model.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getCameraInfo()

cras::optional<sensor_msgs::CameraInfo> movie_publisher::MetadataManager::getCameraInfo ( )

overridevirtual

Returns: Extracted camera info combined from other fields, or nothing. Timestamp is zero.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getCameraMake()

cras::optional<std::string> movie_publisher::MetadataManager::getCameraMake ( )

overridevirtual

Returns: Camera manufacturer.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getCameraModel()

cras::optional<std::string> movie_publisher::MetadataManager::getCameraModel ( )

overridevirtual

Returns: The camera model name (just the model, without manufacturer).

Reimplemented from movie_publisher::MetadataExtractor.

◆ getCameraSerialNumber()

cras::optional<std::string> movie_publisher::MetadataManager::getCameraSerialNumber ( )

overridevirtual

Returns: The camera's serial number.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getCameraUniqueName()

cras::optional<std::string> movie_publisher::MetadataManager::getCameraUniqueName ( )

overridevirtual

Returns: String describing the camera in a unique way, utilizing serial numbers etc. If unique identification is not possible, nothing is returned.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getCreationTime()

cras::optional<ros::Time> movie_publisher::MetadataManager::getCreationTime ( )

overridevirtual

Returns: The global time corresponding to the first frame of the movie stream.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getCropFactor()

cras::optional<double> movie_publisher::MetadataManager::getCropFactor ( )

overridevirtual

Returns: Crop factor of the camera (i.e. how many times is the sensing area smaller than 36x24 mm).

Reimplemented from movie_publisher::MetadataExtractor.

◆ getDistortion()

cras::optional<std::pair<DistortionType, Distortion> > movie_publisher::MetadataManager::getDistortion ( )

overridevirtual

Returns: Camera distortion coefficients (corresponding to the OpenCV calibration model: 5 or 8 elements).

Reimplemented from movie_publisher::MetadataExtractor.

◆ getFaces()

cras::optional<vision_msgs::Detection2DArray> movie_publisher::MetadataManager::getFaces ( )

overridevirtual

Returns: Faces detected in the scene. Timestamps are zero.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getFocalLength35MM()

cras::optional<double> movie_publisher::MetadataManager::getFocalLength35MM ( )

overridevirtual

Returns: Focal length recomputed to an equivalent 35 mm system.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getFocalLengthMM()

cras::optional<double> movie_publisher::MetadataManager::getFocalLengthMM ( )

overridevirtual

Returns: The focal length in mm.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getFocalLengthPx()

cras::optional<double> movie_publisher::MetadataManager::getFocalLengthPx ( )

overridevirtual

Returns: The focal length in pixels.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getGNSSPosition()

GNSSFixAndDetail movie_publisher::MetadataManager::getGNSSPosition ( )

overridevirtual

Returns: GNSS position of the camera when capturing the frame. Timestamps are zero.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getImu()

cras::optional<sensor_msgs::Imu> movie_publisher::MetadataManager::getImu ( )

overridevirtual

Returns: Extracted IMU info combined from other fields, or nothing. Timestamp is zero.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getIntrinsicMatrix()

cras::optional<IntrinsicMatrix> movie_publisher::MetadataManager::getIntrinsicMatrix ( )

overridevirtual

Returns: The intrinsic calibration matrix of the camera.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getLensMake()

cras::optional<std::string> movie_publisher::MetadataManager::getLensMake ( )

overridevirtual

Returns: Lens manufacturer.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getLensModel()

cras::optional<std::string> movie_publisher::MetadataManager::getLensModel ( )

overridevirtual

Returns: Lens model.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getMagneticField()

cras::optional<sensor_msgs::MagneticField> movie_publisher::MetadataManager::getMagneticField ( )

overridevirtual

Returns: The magnetic field acting on the camera; measurement in X, Y and Z axes [T]. Timestamp is zero.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getName()

std::string movie_publisher::MetadataManager::getName ( ) const

overridevirtual

Return the name of the extractor.

Returns: The name.

Implements movie_publisher::MetadataExtractor.

◆ getOpticalFrameTF()

cras::optional<geometry_msgs::Transform> movie_publisher::MetadataManager::getOpticalFrameTF ( )

overridevirtual

Returns: Optical frame transform, i.e. transform between camera's geometrical and optical frame. It might be affected by image rotation.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getPriority()

int movie_publisher::MetadataManager::getPriority ( ) const

overridevirtual

Return the priority of the extractor (for ordering in MetadataManager).

Returns: The priority. Lower values have more priority. Usually between 0 and 100.

Implements movie_publisher::MetadataExtractor.

◆ getRollPitch()

cras::optional<RollPitch> movie_publisher::MetadataManager::getRollPitch ( )

overridevirtual

Returns: Gravity-aligned roll and pitch of the camera when capturing the frame [rad].

Reimplemented from movie_publisher::MetadataExtractor.

◆ getRotation()

cras::optional<int> movie_publisher::MetadataManager::getRotation ( )

overridevirtual

Returns: Rotation of the image in degrees. Only values 0, 90, 180 and 270 are supported.

Reimplemented from movie_publisher::MetadataExtractor.

◆ getSensorSizeMM()

cras::optional<SensorSize> movie_publisher::MetadataManager::getSensorSizeMM ( )

overridevirtual

Returns: Physical size of the active sensor area that captures the movie (in mm; width, height).

Reimplemented from movie_publisher::MetadataExtractor.

◆ getZeroRollPitchTF()

cras::optional<geometry_msgs::Transform> movie_publisher::MetadataManager::getZeroRollPitchTF ( )

overridevirtual

Returns: The transform from camera body frame to a gravity-aligned frame.

Reimplemented from movie_publisher::MetadataExtractor.

◆ hasTimedMetadata()

bool movie_publisher::MetadataManager::hasTimedMetadata ( ) const

overridevirtual

Returns: Whether the extractor is able to extract some timed metadata from the movie it is bound to.

Note: This is the best guess based on the current knowledge of the extractor. It can still happen that processTimedMetadata() will fail to produce the metadata.; Implementing classes should not call this base method implementation.

Reimplemented from movie_publisher::TimedMetadataExtractor.

◆ loadExtractorPlugins()

void movie_publisher::MetadataManager::loadExtractorPlugins ( const MetadataExtractorParams & params )

Load all known extractors from plugins.

Parameters

[in] params Parameters passed to the plugin initialization methods.

◆ prepareTimedMetadata()

void movie_publisher::MetadataManager::prepareTimedMetadata ( const std::unordered_set< MetadataType > & metadataTypes )

overridevirtual

Perform any required initialization of the extractor so that it is prepared to extract metadata of the given types.

Parameters

[in] metadataTypes The types of metadata this extractor should provide.

Note: This method should be called before the first call to processTimedMetadata() and canProduceTimedMetadata().; Implementing classes should not call this base method implementation.

Reimplemented from movie_publisher::TimedMetadataExtractor.

◆ processPacket()

void movie_publisher::MetadataManager::processPacket ( const AVPacket * packet )

overridevirtual

Optional processing of libav packets as they are read from the movie file.

Parameters

[in] packet The libav packet.

Note: av_packet_ref() the packet if you want to store it for longer than this call duration.

Reimplemented from movie_publisher::MetadataExtractor.

◆ processTimedMetadata()

size_t movie_publisher::MetadataManager::processTimedMetadata	(	MetadataType	type,
		const StreamTime &	maxTime,
		bool	requireOptional
	)

overridevirtual

Process timed metadata up until the time passed as parameter.

Parameters

[in]	type	Type of the requested metadata.
[in]	maxTime	The maximum stream timestamp of the timed metadata that should be passed to listeners.
[in]	requireOptional	If true and the timed metadata are composed of multiple base metadata, treat even optional metadata as required. This is used by the metadata creation loop to first make sure other providers have produced as much as they can before this metadata is asked to be produced even with incomplete optional dependencies.

Returns: The number of produced metadata (corresponds to the number of callbacks called).

Note: It is assumed that maxTime is a sequence of times growing as fast as the video frame timestamps. Use seekTimedMetadata() to inform the extractor that it should seek somewhere (create a discontinuity in this growing sequence of timestamps).; If timed metadata are present and supported, all listeners added by addTimedMetadataListener() will be called with appropriate data.; Implementing classes should not call this base method implementation.

Reimplemented from movie_publisher::TimedMetadataExtractor.

◆ seekTimedMetadata()

void movie_publisher::MetadataManager::seekTimedMetadata ( const StreamTime & seekTime )

overridevirtual

Seek timed metadata to the given stream time.

Parameters

[in] seekTime The stream timestamp to seek to.

Note: Implementing classes should not call this base method implementation.

Reimplemented from movie_publisher::TimedMetadataExtractor.

◆ stopRecursion()

bool movie_publisher::MetadataManager::stopRecursion	(	const std::string &	fn,
		const MetadataExtractor *	extractor
	)		const

protected

Check for infinite recursion when individual extractors call common methods via this manager.

Parameters

[in]	fn	The stringified name of the called function.
[in]	extractor	The extractor that calls the function.

Returns: Whether this extractor would be calling itself recursively if the given function were called.

◆ supportedTimedMetadata()

std::unordered_set<MetadataType> movie_publisher::MetadataManager::supportedTimedMetadata ( const std::unordered_set< MetadataType > & availableMetadata ) const

overridevirtual

Get a list of timed metadata that are supported by this instance of the extractor based on the given available metadata.

Parameters

[in] availableMetadata The timed metadata that is currently available.

Returns: Supported metadata types.

Note: This function should return a correct result right after the extractor is constructed. It should reflect the actual content of the file the extractor is bound to, and if the extractor doesn't see anything it could decode, it should return an empty value from this function.

Implements movie_publisher::TimedMetadataExtractor.

Member Data Documentation

◆ cache

std::shared_ptr<MetadataCache> movie_publisher::MetadataManager::cache

protected

Cache of static and timed metadata.

Definition at line 171 of file metadata_manager.h.

◆ callStack

std::deque<std::pair<std::string, const MetadataExtractor*> > movie_publisher::MetadataManager::callStack

protected

The stack of all calls via the manager.

Definition at line 165 of file metadata_manager.h.

◆ config

MovieOpenConfig movie_publisher::MetadataManager::config

protected

Configuration of the open movie.

Definition at line 169 of file metadata_manager.h.

◆ extractors

std::multiset<MetadataExtractor::Ptr, PriorityComparator> movie_publisher::MetadataManager::extractors

protected

Registered extractor instances.

Definition at line 162 of file metadata_manager.h.

◆ height

size_t movie_publisher::MetadataManager::height {0u}

protected

Height of the analyzed movie [px].

Definition at line 167 of file metadata_manager.h.

◆ info

MovieInfo::ConstPtr movie_publisher::MetadataManager::info

protected

Information about the open movie.

Definition at line 170 of file metadata_manager.h.

◆ loader

pluginlib::ClassLoader<MetadataExtractorPlugin> movie_publisher::MetadataManager::loader

protected

The extractor plugin loader.

Definition at line 161 of file metadata_manager.h.

◆ metadataListener

std::shared_ptr<CachingMetadataListener> movie_publisher::MetadataManager::metadataListener

protected

The timed metadata listener proxy passed to all timed extractors to collect and cache their output.

Definition at line 174 of file metadata_manager.h.

◆ StackGuard

friend movie_publisher::MetadataManager::StackGuard

protected

Definition at line 176 of file metadata_manager.h.

◆ timedExtractors

std::multiset<TimedMetadataExtractor::Ptr, PriorityComparator> movie_publisher::MetadataManager::timedExtractors

protected

Registered timed extractor instances.

Definition at line 164 of file metadata_manager.h.

◆ width

size_t movie_publisher::MetadataManager::width {0u}

protected

Width of the analyzed movie [px].

Definition at line 166 of file metadata_manager.h.

The documentation for this class was generated from the following file:

metadata_manager.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MetadataManager()

◆ ~MetadataManager()

Member Function Documentation

◆ addExtractor()

◆ checkExtractors()

◆ clearTimedMetadataCache()

◆ getAcceleration()

◆ getAngularVelocity()

◆ getAzimuth()

◆ getCache()

◆ getCameraGeneralName()

◆ getCameraInfo()

◆ getCameraMake()

◆ getCameraModel()

◆ getCameraSerialNumber()

◆ getCameraUniqueName()

◆ getCreationTime()

◆ getCropFactor()

◆ getDistortion()

◆ getFaces()

◆ getFocalLength35MM()

◆ getFocalLengthMM()

◆ getFocalLengthPx()

◆ getGNSSPosition()

◆ getImu()

◆ getIntrinsicMatrix()

◆ getLensMake()

◆ getLensModel()

◆ getMagneticField()

◆ getName()

◆ getOpticalFrameTF()

◆ getPriority()

◆ getRollPitch()

◆ getRotation()

◆ getSensorSizeMM()

◆ getZeroRollPitchTF()

◆ hasTimedMetadata()

◆ loadExtractorPlugins()

◆ prepareTimedMetadata()

◆ processPacket()

◆ processTimedMetadata()

◆ seekTimedMetadata()

◆ stopRecursion()

◆ supportedTimedMetadata()

Member Data Documentation

◆ cache

◆ callStack

◆ config

◆ extractors

◆ height

◆ info

◆ loader

◆ metadataListener

◆ StackGuard

◆ timedExtractors

◆ width