def read_bag_stats_progress(source, logger, interval=5):
warnings.warn('remove, use the other version')
tracker = InAWhile(interval)
for topic, msg, t, extra in source:
if tracker.its_time():
progress = extra['t_percentage']
cur_obs = extra['counter']
num_obs = '?' # extra['messages'] # XXX: this is all messages
status = ('%4.1f%% (obs: %4d/%s); %5.1f fps' %
(progress, cur_obs, num_obs, tracker.fps()))
logger.debug(status)
yield topic, msg, t, extra
def read_bag_stats(bagfile, topics, logger=None):
"""
This yields a dict with:
topic
msg
t
info:
counter
messages
start
end
t_percentage
t_from_start
"""
warnings.warn('remove, use the other version')
import rosbag # @UnresolvedImport
from rospy import rostime # @UnresolvedImport
if logger is None:
logger = pg_logger
logger.debug('Reading info for bagfile...')
bag_info = rosbag_info(bagfile)
logger.debug('Opening bagfile...')
bag = rosbag.Bag(bagfile)
extra = bag_info
extra['messages'] = bag_info['messages']
extra['start'] = bag_info['start']
extra['end'] = bag_info['end']
extra['duration'] = bag_info['duration']
t0 = rostime.Time.from_sec(bag_info['start'])
i = 0
for topic, msg, t in bag.read_messages(topics=topics):
if i == 0:
logger.debug('first message arrived.')
extra['counter'] = i
extra['t_from_start'] = (t - t0).to_sec()
extra['t_percentage'] = 100.0 * (extra['t_from_start'] / extra['duration'])
i += 1
yield topic, msg, t, extra
