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feat(record): add depth RVL recording to MCAP

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crosstyan
2026-03-11 21:15:25 +08:00
parent 782af9481c
commit 59ff8b79d9
15 changed files with 826 additions and 35 deletions
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src/config/runtime_config.cpp
+14
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@@ -358,6 +358,10 @@ std::expected<void, std::string> apply_toml_file(RuntimeConfig &config, const st
config.record.mcap.enabled = true;
config.record.mcap.topic = *value;
}
if (auto value = toml_value<std::string>(table, "record.mcap.depth_topic")) {
config.record.mcap.enabled = true;
config.record.mcap.depth_topic = *value;
}
if (auto value = toml_value<std::string>(table, "record.mcap.frame_id")) {
config.record.mcap.enabled = true;
config.record.mcap.frame_id = *value;
@@ -555,6 +559,7 @@ std::expected<RuntimeConfig, std::string> parse_runtime_config(int argc, char **
std::string rtp_sdp_raw{};
std::string mcap_path_raw{};
std::string mcap_topic_raw{};
std::string mcap_depth_topic_raw{};
std::string mcap_frame_id_raw{};
std::string mcap_compression_raw{};
std::string queue_size_raw{};
@@ -594,6 +599,7 @@ std::expected<RuntimeConfig, std::string> parse_runtime_config(int argc, char **
app.add_flag("--mcap", mcap_enabled);
app.add_option("--mcap-path", mcap_path_raw);
app.add_option("--mcap-topic", mcap_topic_raw);
app.add_option("--mcap-depth-topic", mcap_depth_topic_raw);
app.add_option("--mcap-frame-id", mcap_frame_id_raw);
app.add_option("--mcap-compression", mcap_compression_raw);
app.add_option("--queue-size", queue_size_raw);
@@ -702,6 +708,10 @@ std::expected<RuntimeConfig, std::string> parse_runtime_config(int argc, char **
config.record.mcap.enabled = true;
config.record.mcap.topic = mcap_topic_raw;
}
if (!mcap_depth_topic_raw.empty()) {
config.record.mcap.enabled = true;
config.record.mcap.depth_topic = mcap_depth_topic_raw;
}
if (!mcap_frame_id_raw.empty()) {
config.record.mcap.enabled = true;
config.record.mcap.frame_id = mcap_frame_id_raw;
@@ -833,6 +843,9 @@ std::expected<void, std::string> validate_runtime_config(const RuntimeConfig &co
if (config.record.mcap.topic.empty()) {
return std::unexpected("invalid MCAP config: topic must not be empty");
}
if (config.record.mcap.depth_topic.empty()) {
return std::unexpected("invalid MCAP config: depth_topic must not be empty");
}
if (config.record.mcap.frame_id.empty()) {
return std::unexpected("invalid MCAP config: frame_id must not be empty");
}
@@ -871,6 +884,7 @@ std::string summarize_runtime_config(const RuntimeConfig &config) {
ss << ", mcap.enabled=" << (config.record.mcap.enabled ? "true" : "false");
ss << ", mcap.path=" << config.record.mcap.path;
ss << ", mcap.topic=" << config.record.mcap.topic;
ss << ", mcap.depth_topic=" << config.record.mcap.depth_topic;
ss << ", mcap.frame_id=" << config.record.mcap.frame_id;
ss << ", mcap.compression=" << to_string(config.record.mcap.compression);
ss << ", latency.queue_size=" << config.latency.queue_size;