initial commit

.clang-format

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+---
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
+...
+

.github/workflows/ci.yaml

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+#
+# continuous integration workflow
+#
+name: build repo
+
+on:
+   push:
+      branches: [master]
+   pull_request:
+      branches: [master]
+   workflow_dispatch:
+      branches: [master]
+
+jobs:
+   build_ros2:
+      uses: ros-misc-utilities/ros_build_scripts/.github/workflows/ros2_ci.yml@master
+      with:
+         repo: ${{ github.event.repository.name }}
+         # vcs_url: https://raw.githubusercontent.com/${{ github.repository }}/master/${{ github.event.repository.name }}.repos

CMakeLists.txt

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+#
+# Copyright 2024 Bernd Pfrommer <[email protected]>
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.16)
+project(ffmpeg_encoder_decoder)
+
+add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(OpenCV REQUIRED imgproc)
+
+if(${cv_bridge_VERSION} GREATER "3.3.0")
+  add_definitions(-DUSE_CV_BRIDGE_HPP)
+endif()
+
+set(FFMPEG_PKGCONFIG "" CACHE STRING "extra path to pkgconfig")
+if("${FFMPEG_PKGCONFIG}" STREQUAL "")
+else()
+  message(WARNING "using FFMPEG package from ${FFMPEG_PKGCONFIG}")
+endif()
+
+set(ENV{PKG_CONFIG_PATH} ${FFMPEG_PKGCONFIG})
+find_package(PkgConfig REQUIRED)
+
+pkg_check_modules(LIBAV REQUIRED IMPORTED_TARGET
+    libavcodec
+    libswresample
+    libswscale
+    libavutil)
+
+
+set(FFMPEG_PKGCONFIG "" CACHE STRING "extra path to pkgconfig")
+if("${FFMPEG_PKGCONFIG}" STREQUAL "")
+else()
+  message(WARNING "using FFMPEG package from ${FFMPEG_PKGCONFIG}")
+endif()
+
+set(ENV{PKG_CONFIG_PATH} ${FFMPEG_PKGCONFIG})
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(LIBAV REQUIRED IMPORTED_TARGET
+    libavcodec
+    libswresample
+    libswscale
+    libavutil)
+
+if(LIBAV_libavcodec_VERSION VERSION_GREATER_EQUAL 60.0.0)
+  add_definitions(-DUSE_AV_FLAGS)
+endif()
+
+
+#
+# --------- encoding/decoding library
+#
+add_library(${PROJECT_NAME}
+  SHARED
+  src/encoder.cpp
+  src/decoder.cpp
+  src/utils.cpp
+  src/tdiff.cpp)
+
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
+
+ament_target_dependencies(${PROJECT_NAME}
+PUBLIC
+  cv_bridge
+  rclcpp
+  sensor_msgs)
+
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC
+    opencv_imgproc
+    PkgConfig::LIBAV)
+
+
+ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+
+ament_export_dependencies(
+  OpenCV
+  LIBAV
+  cv_bridge
+  rclcpp
+  sensor_msgs
+  std_msgs)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}Targets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake REQUIRED)
+  find_package(ament_cmake_copyright REQUIRED)
+  find_package(ament_cmake_cppcheck REQUIRED)
+  find_package(ament_cmake_cpplint REQUIRED)
+  find_package(ament_cmake_clang_format REQUIRED)
+  find_package(ament_cmake_flake8 REQUIRED)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_pep257 REQUIRED)
+  find_package(ament_cmake_xmllint REQUIRED)
+
+  ament_copyright()
+  ament_cppcheck(LANGUAGE c++)
+  ament_cpplint(FILTERS "-build/include,-runtime/indentation_namespace")
+  ament_clang_format(CONFIG_FILE .clang-format)
+  ament_flake8()
+  ament_lint_cmake()
+  ament_pep257()
+  ament_xmllint()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_add_gtest(${PROJECT_NAME}_encoder_test test/encoder_test.cpp
+    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test)
+    target_include_directories(${PROJECT_NAME}_encoder_test PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
+  target_link_libraries(${PROJECT_NAME}_encoder_test ${PROJECT_NAME})
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+
+ament_package(CONFIG_EXTRAS cmake/${PROJECT_NAME}-extras.cmake.in)

CONTRIBUTING.md

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+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).