movie_publisher: Fixed buildfarm issues.

.github/ci.melodic.rosinstall

@@ -9,8 +9,3 @@
     local-name: compass
     uri: https://github.com/ctu-vras/compass.git
     version: master
-# Fix https://github.com/ros/roslint/pull/90
-- git:
-    local-name: roslint
-    uri: https://github.com/peci1/roslint.git
-    version: patch-2

.github/ci.noetic.rosinstall

@@ -5,8 +5,3 @@
     local-name: ros-utils
     uri: https://github.com/ctu-vras/ros-utils.git
     version: master
-# Fix https://github.com/ros/roslint/pull/90
-- git:
-    local-name: roslint
-    uri: https://github.com/peci1/roslint.git
-    version: patch-2

movie_publisher/CMakeLists.txt

@@ -128,13 +128,13 @@ if (CATKIN_ENABLE_TESTING)
 
   roslaunch_add_file_check(launch/${PROJECT_NAME}.launch IGNORE_UNSET_ARGS)
 
-  catkin_add_gtest(test_movie_reader test/test_movie_reader.cpp)
+  catkin_add_gmock(test_movie_reader test/test_movie_reader.cpp)
   target_link_libraries(test_movie_reader movie_reader movie_reader_metadata_plugins)
   target_compile_definitions(test_movie_reader PRIVATE TEST_DATA_DIR="${CATKIN_DEVEL_PREFIX}/share/test_data")
   add_custom_command(TARGET test_movie_reader POST_BUILD
     COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/../test_data" "${CATKIN_DEVEL_PREFIX}/share/test_data")
 
-  add_rostest_gtest(test_${PROJECT_NAME}_nodelet test/test_${PROJECT_NAME}_nodelet.test test/test_${PROJECT_NAME}_nodelet.cpp)
+  add_rostest_gmock(test_${PROJECT_NAME}_nodelet test/test_${PROJECT_NAME}_nodelet.test test/test_${PROJECT_NAME}_nodelet.cpp)
   target_link_libraries(test_${PROJECT_NAME}_nodelet ${catkin_LIBRARIES} ${PROJECT_NAME}_nodelet)
   add_dependencies(test_${PROJECT_NAME}_nodelet test_movie_reader)  # Wait for copying files
   target_compile_definitions(test_${PROJECT_NAME}_nodelet PRIVATE TEST_DATA_DIR="${CATKIN_DEVEL_PREFIX}/share/test_data")

movie_publisher/src/movie_reader_private.cpp

@@ -14,13 +14,21 @@
 #include <regex>
 #include <unordered_map>
 
+#include <compass_msgs/Azimuth.h>
 #include <cras_cpp_common/expected.hpp>
 #include <cras_cpp_common/optional.hpp>
 #include <cras_cpp_common/param_utils/bound_param_helper.hpp>
+#include <geometry_msgs/TransformStamped.h>
+#include <gps_common/GPSFix.h>
 #include <movie_publisher/metadata_extractor.h>
+#include <movie_publisher/metadata_manager.h>
 #include <movie_publisher/movie_reader.h>
 #include <ros/duration.h>
+#include <ros/time.h>
 #include <sensor_msgs/image_encodings.h>
+#include <sensor_msgs/CameraInfo.h>
+#include <sensor_msgs/Imu.h>
+#include <sensor_msgs/NavSatFix.h>
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>

movie_publisher/src/movie_to_bag.cpp

@@ -9,7 +9,6 @@
 
 #include <memory>
 #include <string>
-#include <thread>
 
 #include CXX_FILESYSTEM_INCLUDE
 namespace fs = CXX_FILESYSTEM_NAMESPACE;

movie_publisher/test/test_movie_publisher_nodelet.cpp

@@ -8,6 +8,7 @@
  */
 
 #include "gtest/gtest.h"
+#include "gmock/gmock.h"
 
 #include <cmath>
 #include <map>
@@ -42,6 +43,24 @@ using FixDetail = gps_common::GPSFix;
 
 ros::V_string my_argv;
 
+constexpr uint32_t align(const uint32_t x, const uint32_t a)
+{
+  return ((x) + (a) - 1) & ~((a) - 1);
+}
+
+testing::internal::AnyOfArrayMatcher<uint32_t> alignedStep(
+  const uint32_t width, const uint32_t channels, const uint32_t planes = 1)
+{
+  const auto step = width * channels;
+  return testing::AnyOfArray({
+    planes * step,
+    planes * align(step, 8),
+    planes * align(step, 16),
+    planes * align(step, 32),
+    planes * align(step, 64),
+  });
+}
+
 template<typename NodeletType = cras::Nodelet>
 std::unique_ptr<NodeletType> createNodelet(const cras::LogHelperPtr& log,
   const ros::M_string& remaps = {},
@@ -137,7 +156,7 @@ TEST(MoviePublisherNodelet, FairphoneStill)  // NOLINT
   EXPECT_EQ(4000, lastImages[0].width);
   EXPECT_EQ(3000, lastImages[0].height);
   EXPECT_EQ(sensor_msgs::image_encodings::BGR8, lastImages[0].encoding);
-  EXPECT_EQ(12000, lastImages[0].step);
+  EXPECT_THAT(lastImages[0].step, alignedStep(4000, 3));
   EXPECT_EQ(0, lastImages[0].is_bigendian);
 
   EXPECT_EQ("test_optical_frame", lastCompressedImages[0].header.frame_id);
@@ -208,7 +227,7 @@ TEST(MoviePublisherNodelet, FairphoneMovie)  // NOLINT
   EXPECT_EQ(1080, lastImages[0].width);
   EXPECT_EQ(1920, lastImages[0].height);
   EXPECT_EQ(sensor_msgs::image_encodings::BGR8, lastImages[0].encoding);
-  EXPECT_EQ(3264, lastImages[0].step);
+  EXPECT_THAT(lastImages[0].step, alignedStep(1080, 3));
   EXPECT_EQ(0, lastImages[0].is_bigendian);
 
   EXPECT_EQ("test_optical_frame", lastCompressedImages[0].header.frame_id);
@@ -230,7 +249,7 @@ TEST(MoviePublisherNodelet, FairphoneMovie)  // NOLINT
   EXPECT_EQ(1080, lastImages[1].width);
   EXPECT_EQ(1920, lastImages[1].height);
   EXPECT_EQ(sensor_msgs::image_encodings::BGR8, lastImages[1].encoding);
-  EXPECT_EQ(3264, lastImages[1].step);
+  EXPECT_THAT(lastImages[0].step, alignedStep(1080, 3));
   EXPECT_EQ(0, lastImages[1].is_bigendian);
 
   EXPECT_EQ("test_optical_frame", lastCompressedImages[1].header.frame_id);
@@ -317,7 +336,7 @@ TEST(MoviePublisherNodelet, IphoneMovie)  // NOLINT
   EXPECT_EQ(1920, lastImages[0].width);
   EXPECT_EQ(1080, lastImages[0].height);
   EXPECT_EQ(sensor_msgs::image_encodings::BGR8, lastImages[0].encoding);
-  EXPECT_EQ(5760, lastImages[0].step);
+  EXPECT_THAT(lastImages[0].step, alignedStep(1920, 3));
   EXPECT_EQ(0, lastImages[0].is_bigendian);
 
   EXPECT_EQ("test_optical_frame", lastCompressedImages[0].header.frame_id);
@@ -360,7 +379,7 @@ TEST(MoviePublisherNodelet, IphoneMovie)  // NOLINT
   EXPECT_EQ(1920, lastImages[1].width);
   EXPECT_EQ(1080, lastImages[1].height);
   EXPECT_EQ(sensor_msgs::image_encodings::BGR8, lastImages[1].encoding);
-  EXPECT_EQ(5760, lastImages[1].step);
+  EXPECT_THAT(lastImages[0].step, alignedStep(1920, 3));
   EXPECT_EQ(0, lastImages[1].is_bigendian);
 
   EXPECT_EQ("test_optical_frame", lastCompressedImages[1].header.frame_id);

movie_publisher/test/test_movie_reader.cpp

@@ -8,6 +8,7 @@
  */
 
 #include "gtest/gtest.h"
+#include "gmock/gmock.h"
 
 #include <list>
 #include <memory>
@@ -32,6 +33,23 @@ using Az = compass_msgs::Azimuth;
 using Imu = sensor_msgs::Imu;
 using Fix = sensor_msgs::NavSatFix;
 
+constexpr uint32_t align(const uint32_t x, const uint32_t a)
+{
+  return ((x) + (a) - 1) & ~((a) - 1);
+}
+
+testing::internal::AnyOfArrayMatcher<uint32_t> alignedStep(
+  const uint32_t width, const uint32_t channels, const uint32_t planes = 1)
+{
+  const auto step = width * channels;
+  return testing::AnyOfArray({
+    planes * step,
+    planes * align(step, 8),
+    planes * align(step, 16),
+    planes * align(step, 32),
+    planes * align(step, 64),
+  });
+}
 
 TEST(MovieReader, TestEncoding)  // NOLINT
 {
@@ -62,7 +80,7 @@ TEST(MovieReader, TestEncoding)  // NOLINT
   EXPECT_EQ(1920, image->height);
   EXPECT_EQ("bgr8", image->encoding);
   EXPECT_EQ(false, image->is_bigendian);
-  EXPECT_EQ(3264, image->step);
+  EXPECT_THAT(image->step, alignedStep(1080, 3));
 }
 
 TEST(MovieReader, FairphoneStill)  // NOLINT
@@ -100,7 +118,7 @@ TEST(MovieReader, FairphoneStill)  // NOLINT
   EXPECT_EQ(3000, image->height);
   EXPECT_EQ("yuv422", image->encoding);
   EXPECT_EQ(false, image->is_bigendian);
-  EXPECT_EQ(8000, image->step);
+  EXPECT_THAT(image->step, alignedStep(4000, 1, 2));
 
   maybeNextFrame = m.nextFrame();
   ASSERT_TRUE(maybeNextFrame.has_value());
@@ -144,7 +162,7 @@ TEST(MovieReader, FairphoneMovie)  // NOLINT
   EXPECT_EQ(1920, image->height);
   EXPECT_EQ("yuv422", image->encoding);
   EXPECT_EQ(false, image->is_bigendian);
-  EXPECT_EQ(2176, image->step);
+  EXPECT_THAT(image->step, alignedStep(1080, 1, 2));
 
   maybeNextFrame = m.nextFrame();
   ASSERT_TRUE(maybeNextFrame.has_value());
@@ -211,7 +229,7 @@ TEST(MovieReader, LumixStill)  // NOLINT
   EXPECT_EQ(3448, image->height);
   EXPECT_EQ("yuv422", image->encoding);
   EXPECT_EQ(false, image->is_bigendian);
-  EXPECT_EQ(9184, image->step);
+  EXPECT_THAT(image->step, alignedStep(4592, 1, 2));
 
   maybeNextFrame = m.nextFrame();
   ASSERT_TRUE(maybeNextFrame.has_value());
@@ -252,7 +270,7 @@ TEST(MovieReader, LumixMovie)  // NOLINT
   EXPECT_EQ(1080, image->height);
   EXPECT_EQ("yuv422", image->encoding);
   EXPECT_EQ(false, image->is_bigendian);
-  EXPECT_EQ(3840, image->step);
+  EXPECT_THAT(image->step, alignedStep(1920, 1, 2));
 
   maybeNextFrame = m.nextFrame();
   ASSERT_TRUE(maybeNextFrame.has_value());
@@ -320,7 +338,7 @@ TEST(MovieReader, FfmpegProcessed)  // NOLINT
   EXPECT_EQ(1080, image->height);
   EXPECT_EQ("yuv422", image->encoding);
   EXPECT_EQ(false, image->is_bigendian);
-  EXPECT_EQ(3840, image->step);
+  EXPECT_THAT(image->step, alignedStep(1920, 1, 2));
 
   maybeNextFrame = m.nextFrame();
   ASSERT_TRUE(maybeNextFrame.has_value());
@@ -386,7 +404,7 @@ TEST(MovieReader, IphoneStill)  // NOLINT
   EXPECT_EQ(3024, image->height);
   EXPECT_EQ("yuv422", image->encoding);
   EXPECT_EQ(false, image->is_bigendian);
-  EXPECT_EQ(8064, image->step);
+  EXPECT_THAT(image->step, alignedStep(4032, 1, 2));
 
   maybeNextFrame = m.nextFrame();
   ASSERT_TRUE(maybeNextFrame.has_value());
@@ -428,7 +446,7 @@ TEST(MovieReader, IphoneMovie)  // NOLINT
   EXPECT_EQ(1080, image->height);
   EXPECT_EQ("yuv422", image->encoding);
   EXPECT_EQ(false, image->is_bigendian);
-  EXPECT_EQ(3840, image->step);
+  EXPECT_THAT(image->step, alignedStep(1920, 1, 2));
 
   maybeNextFrame = m.nextFrame();
   ASSERT_TRUE(maybeNextFrame.has_value());