# Copyright 2025 Open Source Robotics Foundation
# Distributed under the terms of the BSD license

{ lib, buildRosPackage, fetchurl, ament-cmake-auto, ament-lint-auto, ament-lint-common, class-loader, cv-bridge, geometry-msgs, image-transport, opencv, rcl-interfaces, rclcpp, rclcpp-components, sensor-msgs, tf2, tf2-geometry-msgs, tf2-ros }:
buildRosPackage {
  pname = "ros-jazzy-image-rotate";
  version = "5.0.9-r1";

  src = fetchurl {
    url = "https://github.com/ros2-gbp/image_pipeline-release/archive/release/jazzy/image_rotate/5.0.9-1.tar.gz";
    name = "5.0.9-1.tar.gz";
    sha256 = "8d4d5a7b87530ffd9cc75a39379aa0d300a15cf8658b8540d7b9ccc10651abc8";
  };

  buildType = "ament_cmake";
  buildInputs = [ ament-cmake-auto class-loader ];
  checkInputs = [ ament-lint-auto ament-lint-common ];
  propagatedBuildInputs = [ cv-bridge geometry-msgs image-transport opencv opencv.cxxdev rcl-interfaces rclcpp rclcpp-components sensor-msgs tf2 tf2-geometry-msgs tf2-ros ];
  nativeBuildInputs = [ ament-cmake-auto ];

  meta = {
    description = "<p>
      Contains a node that rotates an image stream in a way that minimizes
      the angle between a vector in some arbitrary frame and a vector in the
      camera frame. The frame of the outgoing image is published by the node.
    </p>
    <p>
      This node is intended to allow camera images to be visualized in an
      orientation that is more intuitive than the hardware-constrained
      orientation of the physical camera. This is particularly helpful, for
      example, to show images from the PR2's forearm cameras with a
      consistent up direction, despite the fact that the forearms need to
      rotate in arbitrary ways during manipulation.
    </p>
    <p>
      It is not recommended to use the output from this node for further
      computation, as it interpolates the source image, introduces black
      borders, and does not output a camera_info.
    </p>";
    license = with lib.licenses; [ bsdOriginal ];
  };
}