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movie_publisher: Fixed buildfarm issues.
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| // SPDX-License-Identifier: BSD-3-Clause | ||
| // SPDX-FileCopyrightText: Czech Technical University in Prague | ||
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| /** | ||
| * \file | ||
| * \brief Publisher of movie files to ROS image topics. | ||
| * \author Martin Pecka | ||
| */ | ||
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| #include <memory> | ||
| #include <string> | ||
| #include <thread> | ||
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| #include CXX_FILESYSTEM_INCLUDE | ||
| namespace fs = CXX_FILESYSTEM_NAMESPACE; | ||
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| #include <compass_msgs/Azimuth.h> | ||
| #include <cras_cpp_common/functional.hpp> | ||
| #include <cras_cpp_common/node_utils.hpp> | ||
| #include <cras_cpp_common/node_utils/node_with_optional_master.h> | ||
| #include <cras_cpp_common/optional.hpp> | ||
| #include <cras_cpp_common/param_utils.hpp> | ||
| #include <gps_common/GPSFix.h> | ||
| #include <image_transport_codecs/image_transport_codecs.h> | ||
| #include <movie_publisher/movie_to_bag.h> | ||
| #include <nodelet/nodelet.h> | ||
| #include <pluginlib/class_list_macros.hpp> | ||
| #include <rosbag/bag.h> | ||
| #include <rosbag/view.h> | ||
| #include <sensor_msgs/Imu.h> | ||
| #include <sensor_msgs/NavSatFix.h> | ||
| #include <tf2_msgs/TFMessage.h> | ||
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| namespace movie_publisher | ||
| { | ||
| /** | ||
| * \brief Convert movie files and their metadata to ROS bag file. | ||
| * | ||
| * \par Stored topics | ||
| * | ||
| * - `${~topic}` (`sensor_msgs/Image`): The published movie (if raw transport is used). | ||
| * - `${~topic}/${~transport}` (*): The published movie compressed stream (if raw transport is not used). | ||
| * - `${~topic}/camera_info` (`sensor_msgs/CameraInfo`): Camera info. | ||
| * - `${~topic}/azimuth` (`compass_msgs/Azimuth`): Georeferenced heading of the camera. | ||
| * - `${~topic}/fix` (`sensor_msgs/NavSatFix`): GNSS position of the camera. | ||
| * - `${~topic}/fix_detail` (`gps_common/GPSFix`): GNSS position of the camera. | ||
| * - `${~topic}/imu` (`sensor_msgs/Imu`): Orientation and acceleration of the camera. | ||
| * | ||
| * To extract the additional topics except `movie`, the node uses instances of MetadataExtractor. | ||
| * | ||
| * To change the prefix of all topics, set `~topic` parameter. To change the name of a single topic, remap it. | ||
| * | ||
| * \par Parameters | ||
| * | ||
| * Parameters `~start`, `~end` and `~duration` can be expressed in seconds `(15.35)`, in `(min, sec)`, | ||
| * in `(hour, min, sec)`, or as a string: `'01:03:05.35'`. | ||
| * | ||
| * - `~bag` (string, required): Path where the result should be stored. | ||
| * - `~overwrite_bag` (bool, default false): If true and the bag file exists, it will be overwritten. Otherwise, it will | ||
| * be appended (and created if needed). | ||
| * - `~movie` (string, required): Path to the movie to play. Any format that ffmpeg can decode. | ||
| * - `~transport` (string, default `raw`, suggested `compressed`): The image_transport used to store the movie | ||
| * in the bag. | ||
| * - `~start` (float|tuple|string, optional): If set, the movie will be read from the specified time. | ||
| * Cannot be set together with `~end` and `~duration`. | ||
| * - `~end` (float|tuple|string, optional): If set, the movie will be read up to the specified time (not affected by | ||
| * start). Cannot be set together with `~start` and `~duration`. | ||
| * - `~duration` (float|tuple|string, optional): If set, playback will have this duration. If end is also set, the | ||
| * duration is counted from the end of the clip, otherwise, it is the | ||
| * duration from the start of the clip. Cannot be set together with | ||
| * `~start` and `~end`. | ||
| * - `~timestamp_offset` (int|float|string, default 0.0): Adjustment of timestamps determined by `~timestamp_source`. | ||
| * If given as string, it can be a simple mathematical expression | ||
| * that can also resolve several variables: | ||
| * `ros_time` (current ROS time), | ||
| * `wall_time` (current wall time), | ||
| * `metadata_start` (start time from metadata), | ||
| * `bag_start` (start time of the bag file), | ||
| * `bag_end` (end time of the metadata), | ||
| * `bag_duration` (duration of the bag file in s). | ||
| * - `~timestamp_source` (str, default `metadata`): How to determine timestamps of the movie frames. Options are: | ||
| * - `metadata`: Extract absolute time when the movie was recorded and use that time as timestamps. | ||
| * - `all_zeros`: Use zero timestamps. Please note that time 0.0 cannot be stored in bag files. Use | ||
| * `~timestamp_offset` to make the time valid. | ||
| * - `absolute_timecode`: Use the absolute timecode as timestamps (i.e. time since start of movie file). | ||
| * - `relative_timecode`: Use the relative timecode as timestamps (i.e. time since `~start`). | ||
| * - `ros_time`: Timestamp the frames with current ROS time. Note that this mode is not very useful for movie_to_bag. | ||
| * - `~frame_id` (string, default ""): The frame_id used in the geometrical messages' headers. | ||
| * - `~optical_frame_id` (string, default `${frame_id}_optical_frame`): The frame_id used in the image messages' | ||
| * headers. | ||
| * - `~verbose` (bool, default False): If True, logs info about every frame played. | ||
| * - `~allow_yuv_fallback` (bool, default False): Set whether `YUV***` formats should be decoded to YUV422, or whether | ||
| * the default encoding should be used. | ||
| * - `~default_encoding` (string, optional): Set the default encoding which should be used for output frames if there is | ||
| * no direct match between the libav pixel format and ROS image encodings. | ||
| * - `~encoding` (string, optional): Set the encoding which should be used for output frames regardless of their source | ||
| * encoding (one of sensor_msgs::image_encodings constants). | ||
| */ | ||
| class MoviesToBags : public cras::NodeWithOptionalMaster | ||
| { | ||
| public: | ||
| explicit MoviesToBags(const cras::LogHelperPtr& log) : cras::NodeWithOptionalMaster(log) | ||
| { | ||
| } | ||
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| // TODO | ||
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| private: | ||
| }; | ||
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| } | ||
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| int main(int argc, char* argv[]) | ||
| { | ||
| const auto log = std::make_shared<cras::NodeLogHelper>(); | ||
| movie_publisher::MoviesToBags node(log); | ||
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| // We're using NodeWithOptionalMaster, so this is instead of ros::init(). | ||
| const auto options = ros::init_options::AnonymousName; | ||
| node.init(argc, argv, "movies_to_bags", options); | ||
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| const auto params = node.getPrivateParams(); | ||
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| return 0; | ||
| } | ||
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