movie_to_bag.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 <compass_msgs/Azimuth.h>
#include <cras_cpp_common/expected.hpp>
#include <cras_cpp_common/node_utils/node_with_optional_master.h>
#include <cras_cpp_common/param_utils.hpp>
#include <geometry_msgs/TransformStamped.h>
#include <gps_common/GPSFix.h>
#include <image_transport_codecs/image_transport_codecs.h>
#include <movie_publisher/movie_metadata_processor.h>
#include <movie_publisher/movie_reader_ros.h>
#include <rosbag/bag.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 MovieToBagMetadataProcessor : public MovieMetadataProcessor, protected cras::HasLogger
{
public:
  explicit MovieToBagMetadataProcessor(const cras::LogHelperPtr& log, const std::string& bagFilename,
    const std::string& transport, const std::function<std::string(const std::string&)>& resolveName,
    const cras::BoundParamHelperPtr& params);
  ~MovieToBagMetadataProcessor() override;
 
  void close();
 
  virtual void addTimestampOffsetVars(MovieReaderRos& reader) const;
 
  cras::expected<void, std::string> processImage(
    const sensor_msgs::ImageConstPtr& image, const cras::optional<sensor_msgs::CameraInfo>& cameraInfoMsg) override;
  cras::expected<void, std::string> processAzimuth(const compass_msgs::Azimuth& azimuthMsg) override;
  cras::expected<void, std::string> processMagneticField(const sensor_msgs::MagneticField& magneticFieldMsg) override;
  cras::expected<void, std::string> processNavSatFix(const sensor_msgs::NavSatFix& navSatFixMsg) override;
  cras::expected<void, std::string> processGps(const gps_common::GPSFix& gpsMsg) override;
  cras::expected<void, std::string> processImu(const sensor_msgs::Imu& imuMsg) override;
  cras::expected<void, std::string> processZeroRollPitchTf(
    const geometry_msgs::TransformStamped& zeroRollPitchTfMsg) override;
  cras::expected<void, std::string> processOpticalTf(const geometry_msgs::TransformStamped& opticalTfMsg) override;
  cras::expected<void, std::string> processFaces(const vision_msgs::Detection2DArray& facesMsg) override;
 
protected:
  virtual std::string getImageTopic() const;
  virtual std::string getCameraInfoTopic() const;
  virtual std::string getAzimuthTopic() const;
  virtual std::string getMagneticFieldTopic() const;
  virtual std::string getNavSatFixTopic() const;
  virtual std::string getGpsTopic() const;
  virtual std::string getImuTopic() const;
  virtual std::string getTfTopic() const;
  virtual std::string getStaticTfTopic() const;
  virtual std::string getFacesTopic() const;
 
  virtual std::string getPrefixedTopic(const std::string& topicName) const;
 
  std::unique_ptr<image_transport_codecs::ImageTransportCodecs> imageCodecs;  
  std::unique_ptr<rosbag::Bag> bag;  
  std::string topic;  
  std::string transport;  
  std::function<std::string(const std::string&)> resolveName;
  cras::optional<geometry_msgs::TransformStamped> lastOpticalTF;  
};
 
class MovieToBag : public cras::NodeWithOptionalMaster
{
public:
  explicit MovieToBag(const cras::LogHelperPtr& log);
 
  virtual cras::expected<void, std::string> open(
    const std::string& bagFilename, const std::string& transport, const std::string& movieFilename,
    const cras::BoundParamHelperPtr& params);
 
  virtual cras::expected<void, std::string> run();
 
protected:
  virtual std::unique_ptr<MovieReaderRos> createReader(const cras::BoundParamHelperPtr& params);
 
  virtual std::shared_ptr<MovieToBagMetadataProcessor> createMetadataProcessor(
    const std::string& bagFilename, const std::string& transport, const cras::BoundParamHelperPtr& params);
 
  std::unique_ptr<MovieReaderRos> movieReader;  
  MoviePtr movie;  
  std::shared_ptr<MovieToBagMetadataProcessor> metadataProcessor;
};
 
}