Remove handler format fallbacks

ros2_bag_exporter/include/rosbag2_exporter/handlers/compressed_image_handler.hpp

@@ -23,6 +23,7 @@
 #include <fstream>
 #include <iomanip>
 #include <sstream>
+#include <stdexcept>
 #include <string>
 #include <vector>
 
@@ -55,10 +56,9 @@ class CompressedImageHandler : public BaseHandler
     } else if (compressed_img.format.find("png") != std::string::npos) {
       extension = ".png";
     } else {
-      RCLCPP_WARN(
-        logger_, "Unknown compressed image format: %s. Defaulting to '.jpg'",
-        compressed_img.format.c_str());
-      extension = ".jpg";  // Default to JPEG if unknown
+      // Only support .jpg and .png formats
+      throw std::invalid_argument(
+        "Unsupported compressed image format found: " + compressed_img.format);
     }
 
     // Create a timestamped filename and save compressed image directly

ros2_bag_exporter/include/rosbag2_exporter/handlers/image_handler.hpp

@@ -42,8 +42,9 @@ class ImageHandler : public BaseHandler
   {
     // Validate or set default encoding if not provided
     if (encoding.empty()) {
-      RCLCPP_WARN(logger, "No encoding provided. Defaulting to 'rgb8'.");
-      encoding_ = "rgb8";  // Default to rgb8 if encoding is not provided
+      RCLCPP_WARN(logger, "No encoding provided. Defaulting to 'bgr8'.");
+      // Default to bgr8 if encoding is not provided
+      encoding_ = "bgr8";
     } else {
       encoding_ = encoding;
     }
@@ -90,32 +91,14 @@ class ImageHandler : public BaseHandler
     try {
       cv_ptr = cv_bridge::toCvCopy(img_msg, encoding_);
     } catch (const cv_bridge::Exception & e) {
-      RCLCPP_WARN(logger_, "CV Bridge exception: %s. Using default encoding 'rgb8'.", e.what());
-
-      // Attempt to fallback to the default 'rgb8' encoding
-      try {
-        cv_ptr = cv_bridge::toCvCopy(img_msg, "rgb8");
-        encoding_ = "rgb8";  // Update to fallback encoding
-      } catch (const cv_bridge::Exception & e2) {
-        RCLCPP_WARN(logger_, "Fallback to 'rgb8' failed: %s", e2.what());
-        return false;
-      }
+      throw std::runtime_error(
+        "CV Bridge failed to convert to the requested encoding: " + encoding_);
     }
-
-    // Apply color conversion based on encoding
+    // cv_bridge can correctly convert 'bayer_rggb8' or 'bayer_bggr8' to BGR8 or Mono8.
+    // If "rgb8" is needed, an extra conversion is required since cv_bridge doesn't handle it
+    // directly
     if (encoding_ == "rgb8") {
-      // Convert from RGB to BGR for saving with OpenCV (OpenCV uses BGR)
       cv::cvtColor(cv_ptr->image, cv_ptr->image, cv::COLOR_RGB2BGR);
-    } else if (encoding_ == "bgr8") {
-      // No conversion needed, OpenCV already uses BGR format
-      RCLCPP_DEBUG(logger_, "Image is already in 'bgr8', no conversion applied.");
-    } else if (encoding_ == "mono8" || encoding_ == "mono16") {
-      // Grayscale images (mono8 or mono16), no color conversion needed
-      RCLCPP_DEBUG(
-        logger_, "Image is grayscale (%s), no color conversion applied.", encoding_.c_str());
-    } else {
-      RCLCPP_WARN(
-        logger_, "Unsupported image encoding '%s'. Skipping color conversion.", encoding_.c_str());
     }
 
     // Write the image to disk

ros2_bag_exporter/include/rosbag2_exporter/handlers/pointcloud_handler.hpp

@@ -18,6 +18,7 @@
 #include <filesystem>
 #include <iomanip>
 #include <sstream>
+#include <stdexcept>
 #include <string>
 #include <vector>
 
@@ -71,15 +72,13 @@ class PointCloudHandler : public BaseHandler
       pc2_msg.fields.begin(), pc2_msg.fields.end(),
       [](const auto & field) { return field.name == "intensity"; });
 
-    // Create the appropriate point cloud, convert the ROS message, and save it
+    // Create the point cloud, convert the ROS message, and save it
     if (has_intensity) {
       pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);
       pcl::fromROSMsg(pc2_msg, *cloud);
       return save_pointcloud_to_file<pcl::PointXYZI>(cloud, data_meta.data_path);
     } else {
-      pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
-      pcl::fromROSMsg(pc2_msg, *cloud);
-      return save_pointcloud_to_file<pcl::PointXYZ>(cloud, data_meta.data_path);
+      throw std::invalid_argument("The pointcloud message should have an 'intensity' field!");
     }
   }
 

ros2_bag_exporter/src/bag_exporter.cpp

@@ -224,7 +224,9 @@ void BagExporter::export_bag()
           // Construct rclcpp::SerializedMessage from serialized_data
           rclcpp::SerializedMessage ser_msg(*serialized_msg->serialized_data);
           handlers_["/tf_static"].handler->process_message(ser_msg, global_id);
-          handlers_["/tf_static"].handler->save_msg_to_file(0);
+          if (handlers_["/tf_static"].handler->save_msg_to_file(0)) {
+            throw std::runtime_error("Failed to save tf_static message to file");
+          }
           tf_extracted_ = true;
         }
 
@@ -247,7 +249,9 @@ void BagExporter::export_bag()
             rclcpp::SerializedMessage ser_msg(*serialized_msg->serialized_data);
 
             cam_info_handler.handler->process_message(ser_msg, global_id);
-            cam_info_handler.handler->save_msg_to_file(0);
+            if (!cam_info_handler.handler->save_msg_to_file(0)) {
+              throw std::runtime_error("Failed to save camera info message to file");
+            }
 
             // Increase counter
             camera_info_extracted_n += 1;
@@ -331,9 +335,9 @@ void BagExporter::create_metadata_file()
 
     // Save this pointcloud
     if (!main_sensor_handler->save_msg_to_file(idx)) {
-      RCLCPP_WARN(
-        this->get_logger(), "Unable to save pointcloud msg as file, global_id: %li",
-        main_data_meta.global_id);
+      throw std::runtime_error(
+        "Unable to save pointcloud msg as file, global_id: " +
+        std::to_string(main_data_meta.global_id));
     }
 
     // Save file name relative to rosbag_base_name_
@@ -370,9 +374,9 @@ void BagExporter::create_metadata_file()
 
       // Save this image
       if (!curr_cam_handler->save_msg_to_file(closest_time_index)) {
-        RCLCPP_WARN(
-          this->get_logger(), "Unable to save image msg as file, global_id: %li",
-          main_data_meta.global_id);
+        throw std::runtime_error(
+          "Unable to save image msg as file, global_id: " +
+          std::to_string(main_data_meta.global_id));
       }
 
       // Save file name relative to rosbag_base_name_