def scan(dirpath, dirnames, filenames):
"""Default scanner for ROS bag files
Bags suffixed with a consecutive index are grouped into sets::
foo_0.bag
foo_1.bag
foo_3.bag
foo_4.bag
results in::
foo [foo_0.bag, foo_1.bag]
foo_3 [foo_3.bag]
foo_4 [foo_4.bag]
In this example the bag with index 2 is missing which results in
foo_3 and foo_4 to be individual sets with one bag each.
The timestamps used by ``rosbag record`` are stripped from the
name given to sets, but are kept for the remaining individual sets
in case a bag is missing::
foo_2018-01-12-14-05-12_0.bag
foo_2018-01-12-14-45-23_1.bag
foo_2018-01-12-14-55-42_3.bag
results in::
foo [foo_2018-01-12-14-05-12_0.bag,
foo_2018-01-12-14-45-23_1.bag]
foo_2018-01-12-14-45-23_1 [foo_2018-01-12-14-45-23_1.bag]
foo_2018-01-12-14-55-42_3 [foo_2018-01-12-14-55-42_3.bag]
For more information on scanners see :any:`marv.scanner`.
Args:
dirpath (str): The path to the directory currently being
scanned.
dirnames (str): Sorted list of subdirectories of the directory
currently being scanned. Change this in-place to control
further traversal.
filenames (str): Sorted list of files within the directory
currently being scanned.
Returns:
A list of :class:`marv.scanner.DatasetInfo` instances mapping
set of files to dataset names. Absolute filenames must
start with :paramref:`.dirpath`, relative filenames are
automatically prefixed with it.
See :ref:`cfg_c_scanner` config key.
"""
groups = groupby([Baginfo(x, **re.match(REGEX, x).groupdict())
for x in reversed(filenames)
if x.endswith('.bag')],
lambda x: x.name)
bags = []
datasets = []
for name, group in groups:
group = list(group)
prev_idx = None
for bag in group:
expected_idx = bag.idx if prev_idx is None else prev_idx - 1
if bag.idx != expected_idx or \
bags and (bags[0].timestamp is None) != (bag.timestamp is None):
datasets[0:0] = [DatasetInfo(x.basename, [x.filename]) for x in bags]
bags[:] = []
bags.insert(0, bag)
prev_idx = bag.idx
if bag.idx == 0:
datasets.insert(0, DatasetInfo(name, [x.filename for x in bags]))
bags[:] = []
elif bag.idx is None:
assert len(bags) == 1, bags
datasets.insert(0, DatasetInfo(bag.basename, [bag.filename]))
bags[:] = []
datasets[0:0] = [DatasetInfo(x.basename, [x.filename]) for x in bags]
bags[:] = []
filename1 = list(groupby(filenames))
"""
Start my changes.
"""
datasets1 = []
t=0
print("drin")
def scanner(dirpath, dirnames, filenames):
return [DatasetInfo(x, [x]) for x in filenames]
bags[:] = []
filename1 = list(groupby(filenames))
"""
Start my changes.
"""
datasets1 = []
t=0
print("drin")
for name in filenames:
a=name.split(".")
if a[1]!='bag':
datasets1[0:0] = [DatasetInfo(filename1[t][0], [filename1[t][0]])]
t+=1
"""Change end
"""
datasets = datasets + datasets1
return datasets
@marv.node(Bagmeta)
@marv.input('dataset', marv_nodes.dataset)
def bagmeta(dataset):
"""Extract meta information from bag file.