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automatic file suffix for bag_to_file #9

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Merged
merged 1 commit into from
Aug 20, 2025
Merged

automatic file suffix for bag_to_file #9

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20 changes: 13 additions & 7 deletions src/bag_to_file.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@

#include <unistd.h>

#include <ffmpeg_encoder_decoder/utils.hpp>
#include <ffmpeg_image_transport_msgs/msg/ffmpeg_packet.hpp>
#include <ffmpeg_image_transport_tools/bag_processor.hpp>
#include <ffmpeg_image_transport_tools/message_processor.hpp>
Expand Down Expand Up @@ -55,10 +56,8 @@ static void convertToMP4(const std::string & raw, const std::string & mp4, doubl
class FileWriter : public ffmpeg_image_transport_tools::MessageProcessor<FFMPEGPacket>
{
public:
FileWriter(const std::string & raw_file, const std::string & ts_file)
FileWriter(const std::string & raw_file, const std::string & ts_file) : base_name_(raw_file)
{
RCLCPP_INFO_STREAM(logger, "writing to raw file: " << raw_file);
raw_file_ = std::ofstream(raw_file, std::ios::out | std::ios::binary);
ts_file_.open(ts_file);
}

Expand All @@ -68,12 +67,21 @@ class FileWriter : public ffmpeg_image_transport_tools::MessageProcessor<FFMPEGP
{
(void)t_send;
const auto t_header = Time(m->header.stamp).nanoseconds();
if (!raw_file_.is_open()) {
const auto codec = ffmpeg_encoder_decoder::utils::split_encoding(m->encoding)[0];
raw_file_name_ = base_name_ + "." + codec;
RCLCPP_INFO_STREAM(logger, "writing to raw file: " << raw_file_name_);
raw_file_ = std::ofstream(raw_file_name_, std::ios::out | std::ios::binary);
}
raw_file_.write(reinterpret_cast<const char *>(m->data.data()), m->data.size());
ts_file_ << packet_number_++ << " " << m->pts << " " << t_header << " "
<< rclcpp::Time(t_recv).nanoseconds() << std::endl;
}
const auto & getRawFileName() const { return raw_file_name_; }

private:
std::string base_name_{"invalid"};
std::string raw_file_name_{"invalid"};
std::ofstream raw_file_;
std::ofstream ts_file_;
size_t packet_number_{0};
Expand Down Expand Up @@ -149,13 +157,11 @@ int main(int argc, char ** argv)
usage();
return (-1);
}

const std::string raw_file = out_file + ".h264";
const std::string topic_type = "ffmpeg_image_transport_msgs/msg/FFMPEGPacket";
std::vector<std::string> topics{topic};
ffmpeg_image_transport_tools::BagProcessor<FFMPEGPacket> bproc(
logger, bag, topics, topic_type, start_time, end_time);
FileWriter fw(raw_file, time_stamp_file);
FileWriter fw(out_file, time_stamp_file);
bproc.process(&fw);
convertToMP4(raw_file, out_file + ".mp4", rate);
convertToMP4(fw.getRawFileName(), out_file + ".mp4", rate);
}