MCAP ROS2BAG import export

3rdparty/mcap/CMakeLists.txt

@@ -0,0 +1,35 @@
+include(FetchContent)
+FetchContent_Declare(mcap
+        GIT_REPOSITORY https://github.com/foxglove/mcap.git
+        GIT_TAG releases/cpp/v1.4.0   # pin a real tag
+)
+FetchContent_MakeAvailable(mcap)
+
+add_library(mcap INTERFACE)
+target_include_directories(mcap INTERFACE ${mcap_SOURCE_DIR}/cpp/mcap/include)
+
+# mcap's reader/writer .inl always compile in LZ4/ZSTD (de)compression paths,
+# even for callers that only ever write Compression::None -- so the symbols
+# must be linked unconditionally, not just when compression is actually used.
+#
+# On Windows there's no system package manager providing liblz4/libzstd dev
+# packages (unlike apt on Linux / Homebrew on macOS), and no vendored/prebuilt
+# copy of them here yet -- see 3rdpartyBinary/Proj for that pattern if this
+# ever needs revisiting. Until then, disable mcap's LZ4/ZSTD code paths on
+# Windows via its own escape hatch: reading uncompressed/other-codec mcaps
+# still works, only Compression::Lz4/Zstd at write time become unavailable --
+# fine since this repo's writer (rosbags/McapWriter) only ever writes
+# Compression::None.
+if(WIN32)
+    target_compile_definitions(mcap INTERFACE MCAP_COMPRESSION_NO_LZ4 MCAP_COMPRESSION_NO_ZSTD)
+else()
+    find_library(MCAP_LZ4_LIBRARY NAMES lz4)
+    find_library(MCAP_ZSTD_LIBRARY NAMES zstd)
+    find_path(MCAP_LZ4_INCLUDE_DIR NAMES lz4frame.h)
+    find_path(MCAP_ZSTD_INCLUDE_DIR NAMES zstd.h)
+    if(NOT MCAP_LZ4_LIBRARY OR NOT MCAP_ZSTD_LIBRARY OR NOT MCAP_LZ4_INCLUDE_DIR OR NOT MCAP_ZSTD_INCLUDE_DIR)
+        message(FATAL_ERROR "mcap requires liblz4 and libzstd (dev packages) to build against")
+    endif()
+    target_link_libraries(mcap INTERFACE ${MCAP_LZ4_LIBRARY} ${MCAP_ZSTD_LIBRARY})
+    target_include_directories(mcap INTERFACE ${MCAP_LZ4_INCLUDE_DIR} ${MCAP_ZSTD_INCLUDE_DIR})
+endif()

CMakeLists.txt

@@ -112,6 +112,7 @@ if(BUILD_TESTING)
     enable_testing()
     add_subdirectory(shared/tests)
     add_subdirectory(apps/lidar_odometry_step_1/tests)
+    add_subdirectory(rosbags/tests)
 endif()
 
 set(CORE_LIBRARIES core)

apps/console_tools/CMakeLists.txt

@@ -42,4 +42,46 @@ target_include_directories(pcd_to_laz PRIVATE ${LASZIP_INCLUDE_DIR}/LASzip/inclu
 
 add_executable(laz_to_txt laz_to_txt.cpp)
 target_link_libraries(laz_to_txt PRIVATE ${PLATFORM_LASZIP_LIB} spdlog::spdlog)
-target_include_directories(laz_to_txt PRIVATE ${LASZIP_INCLUDE_DIR}/LASzip/include ${PROJECT_BINARY_DIR}/include)
+target_include_directories(laz_to_txt PRIVATE ${LASZIP_INCLUDE_DIR}/LASzip/include ${PROJECT_BINARY_DIR}/include)
+
+# laz_to_mcap: LAZ (+ optional IMU csv, or a whole mandeye session directory)
+# -> MCAP/ROS2 bag exporter. Reuses load_point_cloud()/load_imu() from
+# lidar_odometry_step_1/lidar_odometry_utils.cpp (not load_data(), which
+# additionally drops the first LAZ file's points as part of that app's own
+# odometry preprocessing -- wrong for a lossless exporter), so it needs
+# TBB/spdlog/laszip/core plus that file's own header-only dependencies
+# (glm/toml++/json/observation_equations/vqf), but none of the GUI libs.
+add_executable(
+  laz_to_mcap laz_to_mcap.cpp
+  ${REPOSITORY_DIRECTORY}/apps/lidar_odometry_step_1/lidar_odometry_utils.h
+  ${REPOSITORY_DIRECTORY}/apps/lidar_odometry_step_1/lidar_odometry_utils.cpp
+  ${REPOSITORY_DIRECTORY}/rosbags/McapWriter.h ${REPOSITORY_DIRECTORY}/rosbags/McapWriter.cpp
+  )
+
+target_include_directories(
+  laz_to_mcap
+  PRIVATE ${REPOSITORY_DIRECTORY}/apps/lidar_odometry_step_1
+          ${REPOSITORY_DIRECTORY}/core/include
+          ${REPOSITORY_DIRECTORY}/rosbags
+          ${THIRDPARTY_DIRECTORY} # csv.hpp (used by load_imu)
+          ${THIRDPARTY_DIRECTORY}/glm
+          ${EIGEN3_INCLUDE_DIR}
+          ${THIRDPARTY_DIRECTORY}/tomlplusplus/include
+          ${THIRDPARTY_DIRECTORY}/json/include
+          ${LASZIP_INCLUDE_DIR}/LASzip/include
+          ${THIRDPARTY_DIRECTORY}/observation_equations/codes
+          ${THIRDPARTY_DIRECTORY}/vqf/vqf/cpp)
+
+target_link_libraries(
+          laz_to_mcap
+          PRIVATE
+          mcap
+          unordered_dense::unordered_dense
+          spdlog::spdlog
+          ${PLATFORM_LASZIP_LIB}
+          ${PLATFORM_MISCELLANEOUS_LIBS}
+          ${CORE_LIBRARIES})
+
+if (MSVC)
+    target_compile_options(laz_to_mcap PRIVATE /bigobj)
+endif()