Added AVIF image transport plugin

avif_image_transport/CMakeLists.txt

@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(avif_image_transport)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+include_directories(include)
+
+add_library(
+  ${PROJECT_NAME} SHARED
+  src/avif_publisher.cpp
+  src/avif_subscriber.cpp
+  src/manifest.cpp
+)
+
+target_link_libraries(${PROJECT_NAME} avif)
+
+ament_target_dependencies(${PROJECT_NAME}
+  "image_transport"
+  "rclcpp"
+  "pluginlib"
+  "sensor_msgs"
+)
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY "include/"
+  DESTINATION include
+)
+pluginlib_export_plugin_description_file(image_transport avif_plugins.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

avif_image_transport/avif_plugins.xml

@@ -0,0 +1,19 @@
+<library path="avif_image_transport">
+  <class
+    name="image_transport/avif_pub"
+    type="avif_image_transport::AVIFPublisher"
+    base_class_type="image_transport::PublisherPlugin">
+    <description>
+      This plugin publishes a AVIF image
+    </description>
+  </class>
+
+  <class
+    name="image_transport/avif_sub"
+    type="avif_image_transport::AVIFSubscriber"
+    base_class_type="image_transport::SubscriberPlugin">
+    <description>
+      This plugin decompresses a AVIF Image.
+    </description>
+  </class>
+</library>

avif_image_transport/include/avif_image_transport/avif_common.hpp

@@ -0,0 +1,51 @@
+// Copyright (c) 2023, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of the copyright holder nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef AVIF_IMAGE_TRANSPORT__AVIF_COMMON_HPP_
+#define AVIF_IMAGE_TRANSPORT__AVIF_COMMON_HPP_
+
+#include <rclcpp/parameter_value.hpp>
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
+
+namespace avif_image_transport
+{
+using ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor;
+using ParameterValue = rclcpp::ParameterValue;
+
+struct ParameterDefinition
+{
+  const ParameterValue defaultValue;
+  const ParameterDescriptor descriptor;
+};
+}  // namespace avif_image_transport
+
+#endif  // AVIF_IMAGE_TRANSPORT__AVIF_COMMON_HPP_

avif_image_transport/include/avif_image_transport/avif_publisher.hpp

@@ -0,0 +1,101 @@
+// Copyright (c) 2023, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of the copyright holder nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef AVIF_IMAGE_TRANSPORT__AVIF_PUBLISHER_HPP_
+#define AVIF_IMAGE_TRANSPORT__AVIF_PUBLISHER_HPP_
+
+#include <avif/avif.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/compressed_image.hpp>
+#include <image_transport/simple_publisher_plugin.hpp>
+
+#include <rclcpp/node.hpp>
+
+#include "avif_image_transport/avif_common.hpp"
+
+namespace avif_image_transport
+{
+using CompressedImage = sensor_msgs::msg::CompressedImage;
+using ParameterEvent = rcl_interfaces::msg::ParameterEvent;
+
+struct AvifImageDeleter
+{
+  void operator()(avifImage * image) {avifImageDestroy(image);}
+};
+
+using AvifImageUniquePtr = std::unique_ptr<avifImage, AvifImageDeleter>;
+
+class AVIFPublisher : public image_transport::SimplePublisherPlugin<CompressedImage>
+{
+public:
+  AVIFPublisher();
+  ~AVIFPublisher() override;
+  std::string getTransportName() const override;
+
+protected:
+  // Overridden to set up reconfigure server
+  void advertiseImpl(
+    rclcpp::Node * node,
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::PublisherOptions options) override;
+
+  void publish(
+    const sensor_msgs::msg::Image & message,
+    const PublishFn & publish_fn) const override;
+
+  rclcpp::Logger logger_;
+  rclcpp::Node * node_;
+
+private:
+  AvifImageUniquePtr ConvertToAvif(
+    const sensor_msgs::msg::Image & message,
+    bool lossless,
+    int bit_depth) const;
+
+  std::vector<std::string> parameters_;
+
+  avifEncoder * encoder_ = NULL;
+
+  void declareParameter(
+    const std::string & base_name,
+    const ParameterDefinition & definition);
+};
+
+}  // namespace avif_image_transport
+
+#endif  // AVIF_IMAGE_TRANSPORT__AVIF_PUBLISHER_HPP_

avif_image_transport/include/avif_image_transport/avif_subscriber.hpp

@@ -0,0 +1,90 @@
+// Copyright (c) 2023, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of the copyright holder nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+
+#ifndef AVIF_IMAGE_TRANSPORT__AVIF_SUBSCRIBER_HPP_
+#define AVIF_IMAGE_TRANSPORT__AVIF_SUBSCRIBER_HPP_
+
+#include <avif/avif.h>
+
+#include <memory>
+#include <mutex>
+#include <string>
+#include <vector>
+
+#include <rclcpp/node.hpp>
+#include <rclcpp/subscription_options.hpp>
+
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/compressed_image.hpp>
+#include <image_transport/simple_subscriber_plugin.hpp>
+
+#include "avif_image_transport/avif_common.hpp"
+
+
+namespace avif_image_transport
+{
+using CompressedImage = sensor_msgs::msg::CompressedImage;
+using ParameterEvent = rcl_interfaces::msg::ParameterEvent;
+
+class AVIFSubscriber final
+  : public image_transport::SimpleSubscriberPlugin<sensor_msgs::msg::CompressedImage>
+{
+public:
+  AVIFSubscriber();
+  virtual ~AVIFSubscriber() = default;
+
+  std::string getTransportName() const override;
+
+protected:
+  void subscribeImpl(
+    rclcpp::Node *,
+    const std::string & base_topic,
+    const Callback & callback,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::SubscriptionOptions options) override;
+
+  void internalCallback(
+    const sensor_msgs::msg::CompressedImage::ConstSharedPtr & message,
+    const Callback & user_cb) override;
+
+  rclcpp::Logger logger_;
+  rclcpp::Node * node_;
+
+private:
+  avifDecoder * decoder_;
+  std::mutex mutex;
+};
+
+}  // namespace avif_image_transport
+
+#endif  // AVIF_IMAGE_TRANSPORT__AVIF_SUBSCRIBER_HPP_

avif_image_transport/package.xml

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+<package format="2">
+  <name>avif_image_transport</name>
+  <version>3.2.0</version>
+  <description>
+    avif_image_transport provides a plugin to image_transport for transparently sending images
+    encoded as avif
+  </description>
+  <maintainer email="[email protected]">Alejandro Hernandez Cordero</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/image_transport_plugins</url>
+  <author>Alejandro Hernandez Cordero</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>image_transport</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <image_transport plugin="${prefix}/zstd_plugins.xml" />
+  </export>
+</package>