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_getMetadata() {
if (this.valid) {
const xvizMetadataBuilder = new XVIZMetadataBuilder();
this.bag.getMetadata(xvizMetadataBuilder, this.ros2xviz);
const rawMetadata = xvizMetadataBuilder.getMetadata();
this.metadata = XVIZEnvelope.Metadata(rawMetadata);
}
}
writeMetadata(xvizMetadata) {
this._checkValid();
this._saveTimestamp(xvizMetadata);
if (this.options.envelope) {
xvizMetadata = XVIZEnvelope.Metadata(xvizMetadata);
}
const msg = JSON.stringify(xvizMetadata);
this.writeToSink('1-frame.json', msg);
}
writeMetadata(xvizMetadata) {
this._checkValid();
this._saveTimestamp(xvizMetadata);
if (this.options.envelope) {
xvizMetadata = XVIZEnvelope.Metadata(xvizMetadata);
}
const glbFileBuffer = encodeBinaryXVIZ(xvizMetadata, this.encodingOptions);
this.sink.writeSync(`1-frame.glb`, toBuffer(glbFileBuffer), {flag: 'w'});
}
writeMetadata(xvizDirectory, xvizMetadata) {
this._saveTimestamp(xvizMetadata);
if (this.options.envelope) {
xvizMetadata = XVIZEnvelope.Metadata(xvizMetadata);
}
if (this.options.binary) {
const options = {
flattenArrays: true
};
writeBinaryXVIZtoFile(this.sink, xvizDirectory, '1-frame', xvizMetadata, options);
}
if (this.options.json) {
this.sink.writeSync(xvizDirectory, '1-frame.json', JSON.stringify(xvizMetadata));
}
}