movie_publisher Stack

This stack contains several tools for using movie files in ROS (playback, conversion to bag files etc.).

The most important package is movie_publisher.

Metadata

movie_publisher can also extract various interesting metadata from the image and movie files, like GNSS location, camera calibration, image orientation etc. To extract the metadata, several extractors are available:

• Builtin into movie_publisher:
  • LibavStreamMetadataExtractor.h: Extractor of metadata from an open LibAV stream.
  • FilenameMetadataExtractor.h: Extractor of metadata from filename.
  • FileMetadataExtractor.h: Extractor of metadata from filesystem properties of the movie file.
• exiftool_metadata_extractor: Extractor of image and movie metadata with exiftool backend.
• exiv2_metadata_extractor: Extractor of image and movie metadata with exiv2 backend.
• libexif_metadata_extractor: Extractor of image and movie metadata with libexif backend.
• lensfun_metadata_extractor: Extractor of image and movie metadata with lensfun backend.
• camera_info_manager_metadata_extractor: Extractor of image and movie metadata with camera_info_manager_lib backend.

The extractors are found automatically by pluginlib as all packages specifying <export><movie_publisher metadata_plugins="${prefix}/plugins.xml" /></export> in package.xml.

Each extractor implements interface metadata_extractor.h by providing some raw metadata. metadata_manager.h is a meta-extractor that uses all loaded extractors to get as much metadata as possible, possibly providing cross-dependencies between individual extractors (e.g. lensfun needs to know camera name, but it cannot figure it itself, so it relies on some other extractor to provide the name).