movie_metadata_processor.h

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// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#pragma once
 
#include <memory>
#include <string>
 
#include <cras_cpp_common/expected.hpp>
#include <geometry_msgs/TransformStamped.h>
#include <gps_common/GPSFix.h>
#include <movie_publisher/metadata_extractor.h>
#include <movie_publisher/movie_info.h>
#include <movie_publisher/movie_open_config.h>
#include <movie_publisher/movie_playback_state.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/MagneticField.h>
#include <sensor_msgs/NavSatFix.h>
#include <vision_msgs/Detection2DArray.h>
 
namespace movie_publisher
{
class MovieMetadataProcessor
{
public:
  virtual ~MovieMetadataProcessor();
 
  virtual cras::expected<void, std::string> onOpen(const MovieInfo::ConstPtr& info, const MovieOpenConfig& config);
 
  virtual cras::expected<void, std::string> onMetadataReady(
    const std::shared_ptr<TimedMetadataExtractor>& metadataExtractor);
 
  virtual cras::expected<void, std::string> onClose();
 
  virtual cras::expected<void, std::string> onSeek(const StreamTime& time) {return {};}
 
  virtual cras::expected<void, std::string> processFrame(
    const sensor_msgs::ImageConstPtr& image, const MoviePlaybackState& playbackState);
 
  virtual cras::expected<void, std::string> processImage(
    const sensor_msgs::ImageConstPtr& image, const cras::optional<sensor_msgs::CameraInfo>& cameraInfoMsg) {return {};}
 
  virtual cras::expected<void, std::string> processCameraInfo(const sensor_msgs::CameraInfo& cameraInfoMsg) {return {};}
 
  virtual cras::expected<void, std::string> processAzimuth(const compass_msgs::Azimuth& azimuthMsg) {return {};}
 
  virtual cras::expected<void, std::string> processNavSatFix(const sensor_msgs::NavSatFix& navSatFixMsg) {return {};}
 
  virtual cras::expected<void, std::string> processGps(const gps_common::GPSFix& gpsMsg) {return {};}
 
  virtual cras::expected<void, std::string> processImu(const sensor_msgs::Imu& imuMsg) {return {};}
 
  virtual cras::expected<void, std::string> processZeroRollPitchTf(
    const geometry_msgs::TransformStamped& zeroRollPitchTfMsg) {return {};}
 
  virtual cras::expected<void, std::string> processOpticalTf(const geometry_msgs::TransformStamped& opticalTfMsg)
  {
    return {};
  }
 
  virtual cras::expected<void, std::string> processMagneticField(const sensor_msgs::MagneticField& magneticFieldMsg)
  {
    return {};
  }
 
  virtual cras::expected<void, std::string> processFaces(const vision_msgs::Detection2DArray& facesMsg) {return {};}
 
protected:
  MovieInfo::ConstPtr info;  
  cras::optional<MovieOpenConfig> config;  
  std::shared_ptr<MetadataExtractor> metadataExtractor;  
  bool verbose {false};  
};
 
}