MovieReader preconfigured from ROS parameters. More...

#include <movie_reader_ros.h>

Inheritance diagram for movie_publisher::MovieReaderRos:

Public Member Functions
void	addTimestampOffsetVar (const std::string &var, double val)
	Add a variable that will be resolved when parsing timestamp_offset. More...

cras::expected< MovieOpenConfig, std::string >	createDefaultConfig () const override
	Create a default config for opening movie files. More...

	MovieReaderRos (const cras::LogHelperPtr &log, const cras::BoundParamHelperPtr &params)

cras::expected< MoviePtr, std::string >	open (const std::string &filename, const MovieOpenConfig &config) override
	Open a movie in the referenced file. More...

Public Member Functions inherited from movie_publisher::MovieReader
	MovieReader (const cras::LogHelperPtr &log, const cras::BoundParamHelperPtr &params)
	Create the movie reader instance. More...

virtual	~MovieReader ()

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

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

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

Protected Attributes
cras::BoundParamHelperPtr	params

std::unordered_map< std::string, double >	timestampOffsetVars
	Extra variables to resolve in the timestamp_offset expression. More...

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

Detailed Description

MovieReader preconfigured from ROS parameters.

Parameters

Parameters ~start, ~end and ~duration can be expressed in seconds (15.35), in (min, sec), in (hour, min, sec), or as a string: ‘'01:03:05.35’`.

~start (float|tuple|string, optional): If set, the movie will be read from the specified time. Cannot be set together with ~end and ~duration.
~end (float|tuple|string, optional): If set, the movie will be read up to the specified time (not affected by start). Cannot be set together with ~start and ~duration.
~duration (float|tuple|string, optional): If set, playback will have this duration. If end is also set, the duration is counted from the end of the clip, otherwise, it is the duration from the start of the clip. Cannot be set together with ~start and ~end.
~timestamp_offset (int|float|string, default 0.0): Adjustment of timestamps determined by ~timestamp_source. If given as string, it can be a simple mathematical expression that can also resolve several variables: ros_time (current ROS time), wall_time (current wall time), metadata_start (start time from metadata).
~timestamp_source (str, default metadata): How to determine timestamps of the movie frames. Options are:
- metadata: Extract absolute time when the movie was recorded and use that time as timestamps.
- all_zeros: Use zero timestamps. Please note that time 0.0 cannot be stored in bag files. Use ~timestamp_offset to make the time valid.
- absolute_timecode: Use the absolute timecode as timestamps (i.e. time since start of movie file).
- relative_timecode: Use the relative timecode as timestamps (i.e. time since ~start).
- ros_time: Timestamp the frames with current ROS time. Note that this mode is not very useful for movie_to_bag.
~frame_id (string, default ""): The frame_id used in the geometrical messages' headers.
~optical_frame_id (string, default ${frame_id}_optical_frame): The frame_id used in the image messages' headers.
~allow_yuv_fallback (bool, default False): Set whether YUV*** formats should be decoded to YUV422, or whether the default encoding should be used.
~default_encoding (string, optional): Set the default encoding which should be used for output frames if there is no direct match between the libav pixel format and ROS image encodings.
~encoding (string, optional): Set the encoding which should be used for output frames regardless of their source encoding (one of sensor_msgs::image_encodings constants).

Definition at line 63 of file movie_reader_ros.h.

Constructor & Destructor Documentation

◆ MovieReaderRos()

movie_publisher::MovieReaderRos::MovieReaderRos	(	const cras::LogHelperPtr &	log,
		const cras::BoundParamHelperPtr &	params
	)

Member Function Documentation

◆ addTimestampOffsetVar()

void movie_publisher::MovieReaderRos::addTimestampOffsetVar	(	const std::string &	var,
		double	val
	)

Add a variable that will be resolved when parsing timestamp_offset.

Parameters

[in]	var	Name of the variable.
[in]	val	The value of the variable.

Remarks: This should be called before open().

◆ createDefaultConfig()

cras::expected<MovieOpenConfig, std::string> movie_publisher::MovieReaderRos::createDefaultConfig ( ) const

overridevirtual

Create a default config for opening movie files.

Returns: The config object or error string.

Reimplemented from movie_publisher::MovieReader.

◆ open()

cras::expected<MoviePtr, std::string> movie_publisher::MovieReaderRos::open	(	const std::string &	filename,
		const MovieOpenConfig &	config
	)

overridevirtual

Open a movie in the referenced file.

Parameters

[in]	filename	Path to the file with the movie.
[in]	config	Extra configuration for the movie opening.

Returns: The movie object or an error message on failure.

Reimplemented from movie_publisher::MovieReader.

Member Data Documentation

◆ params

cras::BoundParamHelperPtr movie_publisher::MovieReaderRos::params

protected

ROS parameters configuring the movie reader.

Definition at line 80 of file movie_reader_ros.h.

◆ timestampOffsetVars

std::unordered_map<std::string, double> movie_publisher::MovieReaderRos::timestampOffsetVars

protected

Extra variables to resolve in the timestamp_offset expression.

Definition at line 82 of file movie_reader_ros.h.

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

movie_reader_ros.h

Public Member Functions

Protected Attributes