#include <movie_to_bag.h>

Inheritance diagram for movie_publisher::MovieToBagMetadataProcessor:

Public Member Functions
virtual void	addTimestampOffsetVars (MovieReaderRos &reader) const

void	close ()

	MovieToBagMetadataProcessor (const cras::LogHelperPtr &log, const std::string &bagFilename, const std::string &transport, const std::function< std::string(const std::string &)> &resolveName, const cras::BoundParamHelperPtr &params)

cras::expected< void, std::string >	processAzimuth (const compass_msgs::Azimuth &azimuthMsg) override
	Process the azimuth message. More...

cras::expected< void, std::string >	processFaces (const vision_msgs::Detection2DArray &facesMsg) override
	Process the face detections message. More...

cras::expected< void, std::string >	processGps (const gps_common::GPSFix &gpsMsg) override
	Process the GPSFix message. More...

cras::expected< void, std::string >	processImage (const sensor_msgs::ImageConstPtr &image, const cras::optional< sensor_msgs::CameraInfo > &cameraInfoMsg) override
	Process the image and its camera info. More...

cras::expected< void, std::string >	processImu (const sensor_msgs::Imu &imuMsg) override
	Process the IMU message. More...

cras::expected< void, std::string >	processMagneticField (const sensor_msgs::MagneticField &magneticFieldMsg) override
	Process the magnetic field message. More...

cras::expected< void, std::string >	processNavSatFix (const sensor_msgs::NavSatFix &navSatFixMsg) override
	Process the NavSatFix message. More...

cras::expected< void, std::string >	processOpticalTf (const geometry_msgs::TransformStamped &opticalTfMsg) override
	Process the optical frame TF message. More...

cras::expected< void, std::string >	processZeroRollPitchTf (const geometry_msgs::TransformStamped &zeroRollPitchTfMsg) override
	Process the zero roll/pitch TF message. More...

	~MovieToBagMetadataProcessor () override

Public Member Functions inherited from movie_publisher::MovieMetadataProcessor
virtual cras::expected< void, std::string >	onClose ()
	Callback telling the processor that a movie has been closed. More...

virtual cras::expected< void, std::string >	onMetadataReady (const std::shared_ptr< TimedMetadataExtractor > &metadataExtractor)
	Callback telling the processor that static metadata have been extracted and timed metadata are ready. More...

virtual cras::expected< void, std::string >	onOpen (const MovieInfo::ConstPtr &info, const MovieOpenConfig &config)
	Callback telling the processor that a movie has been opened for reading. More...

virtual cras::expected< void, std::string >	onSeek (const StreamTime &time)
	Callback telling the processor that a movie has been seeked to the given time. More...

virtual cras::expected< void, std::string >	processCameraInfo (const sensor_msgs::CameraInfo &cameraInfoMsg)
	Process camera info. More...

virtual cras::expected< void, std::string >	processFrame (const sensor_msgs::ImageConstPtr &image, const MoviePlaybackState &playbackState)
	Process the frame read by MovieReader::nextFrame(). More...

virtual	~MovieMetadataProcessor ()

Protected Member Functions
virtual std::string	getAzimuthTopic () const

virtual std::string	getCameraInfoTopic () const

virtual std::string	getFacesTopic () const

virtual std::string	getGpsTopic () const

virtual std::string	getImageTopic () const

virtual std::string	getImuTopic () const

virtual std::string	getMagneticFieldTopic () const

virtual std::string	getNavSatFixTopic () const

virtual std::string	getPrefixedTopic (const std::string &topicName) const
	Prefix the given topic name with the base topic. More...

virtual std::string	getStaticTfTopic () const

virtual std::string	getTfTopic () const

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

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

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

Protected Attributes
std::unique_ptr< rosbag::Bag >	bag
	The bag to write to. More...

std::unique_ptr< image_transport_codecs::ImageTransportCodecs >	imageCodecs
	Image transport codec instance. More...

cras::optional< geometry_msgs::TransformStamped >	lastOpticalTF
	Last optical transform. More...

std::function< std::string(const std::string &)>	resolveName

std::string	topic
	The base topic name. More...

std::string	transport
	The transport to use. More...

Protected Attributes inherited from movie_publisher::MovieMetadataProcessor
cras::optional< MovieOpenConfig >	config
	Configuration of the last opened movie. More...

MovieInfo::ConstPtr	info
	Information about the last opened movie. More...

std::shared_ptr< MetadataExtractor >	metadataExtractor
	Accessor to static metadata of the last opened movie. More...

bool	verbose {false}
	Whether the processor should be verbose. More...

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

Detailed Description

Definition at line 34 of file movie_to_bag.h.

Constructor & Destructor Documentation

◆ MovieToBagMetadataProcessor()

movie_publisher::MovieToBagMetadataProcessor::MovieToBagMetadataProcessor	(	const cras::LogHelperPtr &	log,
		const std::string &	bagFilename,
		const std::string &	transport,
		const std::function< std::string(const std::string &)> &	resolveName,
		const cras::BoundParamHelperPtr &	params
	)

explicit

◆ ~MovieToBagMetadataProcessor()

movie_publisher::MovieToBagMetadataProcessor::~MovieToBagMetadataProcessor ( )

override

Member Function Documentation

◆ addTimestampOffsetVars()

virtual void movie_publisher::MovieToBagMetadataProcessor::addTimestampOffsetVars ( MovieReaderRos & reader ) const

virtual

◆ close()

void movie_publisher::MovieToBagMetadataProcessor::close ( )

◆ getAzimuthTopic()

virtual std::string movie_publisher::MovieToBagMetadataProcessor::getAzimuthTopic ( ) const

protectedvirtual

◆ getCameraInfoTopic()

virtual std::string movie_publisher::MovieToBagMetadataProcessor::getCameraInfoTopic ( ) const

protectedvirtual

◆ getFacesTopic()

virtual std::string movie_publisher::MovieToBagMetadataProcessor::getFacesTopic ( ) const

protectedvirtual

◆ getGpsTopic()

virtual std::string movie_publisher::MovieToBagMetadataProcessor::getGpsTopic ( ) const

protectedvirtual

◆ getImageTopic()

virtual std::string movie_publisher::MovieToBagMetadataProcessor::getImageTopic ( ) const

protectedvirtual

◆ getImuTopic()

virtual std::string movie_publisher::MovieToBagMetadataProcessor::getImuTopic ( ) const

protectedvirtual

◆ getMagneticFieldTopic()

virtual std::string movie_publisher::MovieToBagMetadataProcessor::getMagneticFieldTopic ( ) const

protectedvirtual

◆ getNavSatFixTopic()

virtual std::string movie_publisher::MovieToBagMetadataProcessor::getNavSatFixTopic ( ) const

protectedvirtual

◆ getPrefixedTopic()

virtual std::string movie_publisher::MovieToBagMetadataProcessor::getPrefixedTopic ( const std::string & topicName ) const

protectedvirtual

Prefix the given topic name with the base topic.

Parameters

[in] topicName Suffix to add to the base topic name.

Returns: The prefixed topic name.

◆ getStaticTfTopic()

virtual std::string movie_publisher::MovieToBagMetadataProcessor::getStaticTfTopic ( ) const

protectedvirtual

◆ getTfTopic()

virtual std::string movie_publisher::MovieToBagMetadataProcessor::getTfTopic ( ) const

protectedvirtual

◆ processAzimuth()

cras::expected<void, std::string> movie_publisher::MovieToBagMetadataProcessor::processAzimuth ( const compass_msgs::Azimuth & azimuthMsg )

overridevirtual

Process the azimuth message.

Parameters

[in] azimuthMsg Azimuth message.

Reimplemented from movie_publisher::MovieMetadataProcessor.

◆ processFaces()

cras::expected<void, std::string> movie_publisher::MovieToBagMetadataProcessor::processFaces ( const vision_msgs::Detection2DArray & facesMsg )

overridevirtual

Process the face detections message.

Parameters

[in] facesMsg Message with face detections.

Reimplemented from movie_publisher::MovieMetadataProcessor.

◆ processGps()

cras::expected<void, std::string> movie_publisher::MovieToBagMetadataProcessor::processGps ( const gps_common::GPSFix & gpsMsg )

overridevirtual

Process the GPSFix message.

Parameters

[in] gpsMsg GPSFix message.

Reimplemented from movie_publisher::MovieMetadataProcessor.

◆ processImage()

cras::expected<void, std::string> movie_publisher::MovieToBagMetadataProcessor::processImage	(	const sensor_msgs::ImageConstPtr &	image,
		const cras::optional< sensor_msgs::CameraInfo > &	cameraInfoMsg
	)

overridevirtual

Process the image and its camera info.

Parameters

[in]	image	The decoded movie frame.
[in]	cameraInfoMsg	The corresponding camera info (if present).

Returns: Nothing or error.

Note: This function is not called directly by the metadata manager (because it doesn't have access to the image), but is instead called from processFrame(). If you override processFrame(), make sure the call to processImage() is still propagated.

Reimplemented from movie_publisher::MovieMetadataProcessor.

◆ processImu()

cras::expected<void, std::string> movie_publisher::MovieToBagMetadataProcessor::processImu ( const sensor_msgs::Imu & imuMsg )

overridevirtual

Process the IMU message.

Parameters

[in] imuMsg IMU message.

Reimplemented from movie_publisher::MovieMetadataProcessor.

◆ processMagneticField()

cras::expected<void, std::string> movie_publisher::MovieToBagMetadataProcessor::processMagneticField ( const sensor_msgs::MagneticField & magneticFieldMsg )

overridevirtual

Process the magnetic field message.

Parameters

[in] magneticFieldMsg Magnetic field message.

Reimplemented from movie_publisher::MovieMetadataProcessor.

◆ processNavSatFix()

cras::expected<void, std::string> movie_publisher::MovieToBagMetadataProcessor::processNavSatFix ( const sensor_msgs::NavSatFix & navSatFixMsg )

overridevirtual

Process the NavSatFix message.

Parameters

[in] navSatFixMsg NavSatFix message.

Reimplemented from movie_publisher::MovieMetadataProcessor.

◆ processOpticalTf()

cras::expected<void, std::string> movie_publisher::MovieToBagMetadataProcessor::processOpticalTf ( const geometry_msgs::TransformStamped & opticalTfMsg )

overridevirtual

Process the optical frame TF message.

Parameters

[in] opticalTfMsg Static TF message.

Reimplemented from movie_publisher::MovieMetadataProcessor.

◆ processZeroRollPitchTf()

cras::expected<void, std::string> movie_publisher::MovieToBagMetadataProcessor::processZeroRollPitchTf ( const geometry_msgs::TransformStamped & zeroRollPitchTfMsg )

overridevirtual

Process the zero roll/pitch TF message.

Parameters

[in] zeroRollPitchTfMsg Dynamic TF message.

Reimplemented from movie_publisher::MovieMetadataProcessor.

Member Data Documentation

◆ bag

std::unique_ptr<rosbag::Bag> movie_publisher::MovieToBagMetadataProcessor::bag

protected

The bag to write to.

Definition at line 78 of file movie_to_bag.h.

◆ imageCodecs

std::unique_ptr<image_transport_codecs::ImageTransportCodecs> movie_publisher::MovieToBagMetadataProcessor::imageCodecs

protected

Image transport codec instance.

Definition at line 77 of file movie_to_bag.h.

◆ lastOpticalTF

cras::optional<geometry_msgs::TransformStamped> movie_publisher::MovieToBagMetadataProcessor::lastOpticalTF

protected

Last optical transform.

Definition at line 82 of file movie_to_bag.h.

◆ resolveName

std::function<std::string(const std::string&)> movie_publisher::MovieToBagMetadataProcessor::resolveName

protected

Definition at line 81 of file movie_to_bag.h.

◆ topic

std::string movie_publisher::MovieToBagMetadataProcessor::topic

protected

The base topic name.

Definition at line 79 of file movie_to_bag.h.

◆ transport

std::string movie_publisher::MovieToBagMetadataProcessor::transport

protected

The transport to use.

Definition at line 80 of file movie_to_bag.h.

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

movie_to_bag.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MovieToBagMetadataProcessor()

◆ ~MovieToBagMetadataProcessor()

Member Function Documentation

◆ addTimestampOffsetVars()

◆ close()

◆ getAzimuthTopic()

◆ getCameraInfoTopic()

◆ getFacesTopic()

◆ getGpsTopic()

◆ getImageTopic()

◆ getImuTopic()

◆ getMagneticFieldTopic()

◆ getNavSatFixTopic()

◆ getPrefixedTopic()

◆ getStaticTfTopic()

◆ getTfTopic()

◆ processAzimuth()

◆ processFaces()

◆ processGps()

◆ processImage()

◆ processImu()

◆ processMagneticField()

◆ processNavSatFix()

◆ processOpticalTf()

◆ processZeroRollPitchTf()

Member Data Documentation

◆ bag

◆ imageCodecs

◆ lastOpticalTF

◆ resolveName

◆ topic

◆ transport