Big rewrite. Moved movie_publisher to a subfolder. Added C++/libav implementation and metadata extraction plugins.

.gitignore

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+*/doc/html
+*/doc/manifest.yaml

LICENSES/BSD-3-Clause.txt

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+Copyright (c) 2024 Czech Technical University in Prague. 
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

LICENSES/LicenseRef-ExiftoolCpp.txt

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+Copyright © 2013-2019, Phil Harvey (philharvey66 at gmail.com)
+
+This is software, in whole or part, is free for use in non-commercial applications, provided that this copyright notice is retained in the code. A licensing fee may be required for use in a commercial application. Contact Phil Harvey for more information.
+

README.md

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-# movie_publisher
-
-This package contains several tools for using movie files in ROS (playback, conversion to bag files etc.).
-
-It handles any file formats the system installation of ffmpeg can decode.
-
-**Important: This package is meant to work with moviepy. However, due to packaging issues, moviepy cannot be installed
-automatically as a dependency. There's a fallback using OpenCV, which is however worse. Please, install moviepy manually
-calling:**
-
-    sudo pip install moviepy
-
-or
-
-    rosdep install python-moviepy-pip
-
-## Main tools
-
-- `movie_publisher_node`: A ROS node that serves a video file as video topic source (`sensor_msgs/Image` and friends).
-- `movie_publisher.launch`: A launch file for convenient usage of the node. It also allows starting an 
-`image_transport/republish` node that converts the video stream from raw to compressed/theora.
-In the `immediate` mode, it can also be used to convert video files to bagfiles in a batch.
-- `movie_to_bag`: A batch script that takes a video as input and transforms it into a bag file.
-- `add_movie_to_bag`: A batch script that adds a video as a topic into an existing bag file.
-
-### Helper tools
-
-- `fix_bag_timestamps`: A batch script that rewrites bag files so that the message publication time is taken from the 
-message header. This allows you to generate bagfile data at high speed and then reprocess them to have more suitable
-publication timestamps.
-- `merge.py`: A copy of [srv_tools/merge.py](https://github.com/srv/srv_tools/blob/kinetic/bag_tools/scripts/merge.py) 
-which is not available in indigo.
-
-## movie_publisher_node
-
-The node can run with either of two backends - `moviepy` and `opencv`. `moviepy` is strongly recommended, as it uses
-`ffmpeg`, which is quite versatile and efficient. Is you do not set the `backend` param, autodetection is run.
-
-### Published topics
-
-- `movie` (`sensor_msgs/Image`): The published movie, in raw format.
-
-### Node-private parameters:
-
-- `movie_file` (string, required): Path to the movie to play. Any format that ffmpeg can decode.
-- `fps` (float, optional): If set, the playback will be at the specified FPS (speeding up/slowing down the movie).
-- `start` (float|tuple|string, optional): If set, playback will start from the specified time.
-      Can be expressed in seconds `(15.35)`, in `(min, sec)`, in `(hour, min, sec)`,
-      or as a string: `'01:03:05.35'`.
-      Cannot be set together with `end` and `duration`.
-- `end` (float|tuple|string, optional): If set, playback will stop at the specified time (not affected by start).
-      Can be expressed in seconds `(15.35)`, in `(min, sec)`, in `(hour, min, sec)`,
-      or as a string: `'01:03:05.35'`.
-      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.
-      Can be expressed in seconds `(15.35)`, in `(min, sec)`, in `(hour, min, sec)`,
-      or as a string: `'01:03:05.35'`.
-      Cannot be set together with `start` and `end`.
-- `loop` (bool, default False): Whether to loop the movie until the node is shut down. Exludes `immediate`.
-- `immediate` (bool, default False): If True, the movie will be processed and published as quickly as possible not
-      waiting for the real time. The timestamps in the resulting messages act "real-world-like" (i.e. 15 FPS means
-      the frames' timestamps will be 1/15 sec apart). You can set `fake_time_start` if you want these timestamps to
-      begin from a non-zero time. Excludes `loop`.
-- `playback_rate` (float, optional): If set to a number, immediate mode will not play as fast as possible, but at this
-      rate (set the rate to a number where you do not lose any messages, e.g. in image_transport/republish).
-- `fake_time_start` (float, default 0.0): Used with `immediate` to specify the timestamp of the first message.
-- `frame_id` (string, default ""): The frame_id used in the messages' headers.
-- `spin_after_end` (bool, default False): If True, a rospy.spin() is called after the movie has been published.
-- `verbose` (bool, default False): If True, logs info about every frame played.
-- `wait_after_publisher_created` (float, default 1.0): A workaround for the case where you need to give your
-      subscribers some time after the publisher was created. Tweak this number until you get no missing start
-      messages.
-- `publisher_queue_size` (int, default 1000 in immediate mode, 10 otherwise): `queue_size` of the movie publisher.
-- `backend` (string, default "moviepy"): The backend to use for reading video. Either `moviepy` or `opencv`. If
-      `moviepy` is selected and not found, `opencv` will be used (which might support less codecs).
-- `ffmpeg` (string, default ""): If nonempty, specifies the (absolute) path to the ffmpeg binary to use.
-
-## movie_publisher.launch
-
-This launch file takes arguments with the same name as the node's parameters.
+<!-- SPDX-License-Identifier: BSD-3-Clause -->
+<!-- SPDX-FileCopyrightText: Czech Technical University in Prague -->
 
-Additionally, it takes these arguments:
-
-- `transport` (string, default `'raw'`): Type of the image transport. The
-      launch file will start up an `image_transport/republish` node that publishes the video
-      encoded to this transport type.
-- `republished_topic_basename` (string, default `movie_$(arg transport)`): Base name of the
-      topic that will serve the republished messages. Full name of the topic will be
-      `$(arg republished_topic_basename)/$(arg transport)` (or `$(arg republished_topic_basename)` in case of `raw` 
-      transport). The base name cannot be the same as the topic the `movie_publisher_node` subscribes to (`movie` by 
-      default).
-
-## movie_to_bag
-
-Convert a movie file to a bag file with video topic.
-
-It is a Bash script with ROS node-like API - you pass it parameters via `_param:=value` on commandline or via ROS param
-server. 
-
-### Node-private parameters:
-
-- `movie` (string): Path to the source movie file.
-- `bag` (string): Path where the result should be stored.
-- `topic` (string): name of the movie's topic in the bag file
-- `overwrite_bag` (bool, default false): If true, overwrites existing `bag` file, otherwise exits with error if `bag` 
-exists.
-- `tmp_bag` (string, default `/tmp/movie.bag`): Path where a temporary bag file might be stored.
-- `transport` (string, default `compressed`): Name of the image transport to use for encoding the image. Either `raw`,
-`compressed`, `theora` or any other installed image transport.
-
-### Usage
-
-Call this script from commandline setting the node-private parameters, and pass any other `arg:=value` arguments - 
-these will be relayed to `movie_publisher.launch` as is. Do not pass arguments that would collide with the node-private
-parameters of this script (e.g. `movie_file`).
-
-Example:
-
-    rosrun movie_publisher movie_to_bag _movie:=movie.mp4 _bag:=movie.bag _topic:="/movie" start:=5 fake_time_start:=1548323340.24
-
-## add_movie_to_bag
-
-Add a movie file to an existing bagfile as a topic.
-
-It is a Bash script with ROS node-like API - you pass it parameters via `_param:=value` on commandline or via ROS param
-server. 
-
-### Node-private parameters:
-
-- `movie` (string): Path to the source movie file.
-- `bag_in` (string): Path to the source bag file.
-- `bag_out` (string, default: `output.bag`): Path where the result should be stored.
-- `topic` (string): Name of the movie's topic in the bag file.
-- `movie_delay` (int, default `0`): Delay (in seconds) of the movie file from the bag file start. May be negative.
-- `overwrite_out_bag` (bool, default false): If true, overwrites existing `bag_out` file, otherwise exits with error if 
-`bag_out` exists.
-- `bag_tmp` (string, default `/tmp/movie_add_to.bag`): Path where a temporary bag file might be stored.
-- `transport` (string, default `compressed`): Name of the image transport to use for encoding the image. Either `raw`,
-`compressed`, `theora` or any other installed image transport.
-
-### Usage
-
-Call this script from commandline setting the node-private parameters, and pass any other `arg:=value` arguments - 
-these will be relayed to `movie_publisher.launch` as is. Do not pass arguments that would collide with the node-private
-parameters of this script (e.g. `movie_file`).
-
-Example:
-
-    rosrun movie_publisher add_movie_to_bag _movie:=movie.mp4 _bag_in:=movie_in.bag _bag_out:=movie_out.bag _topic:="/movie" start:=5 movie_delay:=-1
-
-
-## fix_bag_timestamps
-
-Goes through `in_bag` and for all messages with a header field sets their publication time to the time stored in their 
-`header.stamp` plus `delay`. If `topics` are set, only works on messages on the listed topics. Reading timestamps from 
-`/tf` is also supported.
-
-It is a Python script with ROS node-like API - you pass it parameters via `_param:=value` on commandline. 
-
-### Node-private parameters:
+# movie_publisher
 
-- `in_bag` (string): Path to the source bag file.
-- `out_bag` (string): Path where the result should be stored.
-- `topics` (string, default: `''`): If nonempty, rewrite only timestamps of the listed topics. Pass a comma-separated 
-list of topics. 
-- `delay` (int, default `0`): Delay (in seconds) which is added to the timestamp read from header. May be negative.
-- `overwrite_existing` (bool, default false): If true, overwrites existing `out_bag` file, otherwise exits with error if 
-`out_bag` exists.
+This package contains several tools for using movie files in ROS (playback, conversion to bag files etc.).

camera_info_manager_lib/CHANGELOG.rst

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+.. SPDX-License-Identifier: BSD-3-Clause
+.. SPDX-FileCopyrightText: Czech Technical University in Prague
+
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package camera_info_manager_lib
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Forthcoming
+-----------
+
+1.4.0 (2022-06-08)
+------------------
+
+1.3.1 (2021-04-27)
+------------------
+
+1.3.0 (2019-03-10)
+------------------
+
+1.2.1 (2019-02-07)
+------------------
+
+1.1.0 (2019-01-28)
+------------------
+
+1.0.1 (2019-01-25)
+------------------

camera_info_manager_lib/CMakeLists.txt

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+# SPDX-License-Identifier: BSD-3-Clause
+# SPDX-FileCopyrightText: Czech Technical University in Prague
+
+cmake_minimum_required(VERSION 3.10.2)
+project(camera_info_manager_lib)
+
+set(CMAKE_CXX_STANDARD 17)
+
+find_package(catkin REQUIRED COMPONENTS
+  camera_calibration_parsers
+  cras_cpp_common
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS cras_cpp_common
+)
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_library(${PROJECT_NAME} src/camera_info_manager.cpp)
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslint REQUIRED)
+  find_package(rostest REQUIRED)
+
+  roslint_custom(catkin_lint "-W2" .)
+
+  # Roslint C++ - checks formatting and some other rules for C++ files
+
+  file(GLOB_RECURSE ROSLINT_INCLUDE include/*.h include/*.hpp)
+  file(GLOB_RECURSE ROSLINT_SRC src/*.cpp src/*.hpp src/*.h)
+  file(GLOB_RECURSE ROSLINT_TEST test/*.cpp)
+
+  set(ROSLINT_CPP_OPTS "--extensions=h,hpp,hh,c,cpp,cc;--linelength=120;--filter=\
+    -build/header_guard,-readability/namespace,-whitespace/braces,-runtime/references,\
+    -build/c++11,-readability/nolint,-readability/todo,-legal/copyright")
+  roslint_cpp(${ROSLINT_INCLUDE} ${ROSLINT_SRC} ${ROSLINT_TEST})
+
+  roslint_add_test()
+
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_camera_info_manager_lib.cpp)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+
+endif()