Added SVTAV1 image transport plugin

svtav1_image_transport/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(svtav1_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()
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules")
+
+find_package(ament_cmake REQUIRED)
+find_package(image_transport REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED COMPONENTS imgcodecs imgproc)
+find_package(SVTENC REQUIRED)
+find_package(SVTDEC REQUIRED)
+
+include_directories(
+  include
+  ${SVTENC_INCLUDE_DIR}
+  ${SVTDEC_INCLUDE_DIR}
+)
+
+add_library(
+  ${PROJECT_NAME} SHARED
+  src/svtav1_publisher.cpp
+  src/svtav1_subscriber.cpp
+  src/manifest.cpp
+)
+
+ament_target_dependencies(${PROJECT_NAME}
+  "cv_bridge"
+  "image_transport"
+  "rclcpp"
+  "pluginlib"
+  "sensor_msgs"
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${SVTDEC_LIBRARY}
+  ${SVTENC_LIBRARY}
+)
+
+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 svtav1_plugins.xml)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

svtav1_image_transport/cmake/Modules/FindSVTDEC.cmake

@@ -0,0 +1,42 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+find_package(PkgConfig QUIET)
+if(PKG_CONFIG_FOUND)
+    pkg_check_modules(_SVT SvtAv1Dec)
+endif()
+
+find_path(SVTDEC_INCLUDE_DIR
+          NAMES svt-av1/EbSvtAv1Dec.h
+          PATHS ${_SVTDEC_INCLUDEDIR}
+)
+message(_SVTDEC_INCLUDEDIR ${_SVTDEC_INCLUDEDIR})
+
+find_library(SVTDEC_LIBRARY
+            NAMES SvtAv1Dec
+            PATHS ${_SVTDEC_LIBDIR})
+
+if(SVTDEC_LIBRARY)
+    set(SVTDEC_LIBRARIES
+        ${SVTDEC_LIBRARIES}
+        ${SVTDEC_LIBRARY})
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(SVTDEC
+                                  FOUND_VAR SVTDEC_FOUND
+                                  REQUIRED_VARS SVTDEC_LIBRARY SVTDEC_LIBRARIES SVTDEC_INCLUDE_DIR
+                                  VERSION_VAR _SVTDEC_VERSION)
+
+mark_as_advanced(SVTDEC_INCLUDE_DIR SVTDEC_LIBRARY SVTDEC_LIBRARIES)

svtav1_image_transport/cmake/Modules/FindSVTENC.cmake

@@ -0,0 +1,42 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+find_package(PkgConfig QUIET)
+if(PKG_CONFIG_FOUND)
+    pkg_check_modules(_SVT SvtAv1Enc)
+endif()
+
+find_path(SVTENC_INCLUDE_DIR
+          NAMES svt-av1/EbSvtAv1Enc.h
+          PATHS ${_SVTENC_INCLUDEDIR}
+)
+message(_SVTENC_INCLUDEDIR ${_SVTENC_INCLUDEDIR})
+
+find_library(SVTENC_LIBRARY
+            NAMES SvtAv1Enc
+            PATHS ${_SVTENC_LIBDIR})
+
+if(SVTENC_LIBRARY)
+    set(SVTENC_LIBRARIES
+        ${SVTENC_LIBRARIES}
+        ${SVTENC_LIBRARY})
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(SVTENC
+                                  FOUND_VAR SVTENC_FOUND
+                                  REQUIRED_VARS SVTENC_LIBRARY SVTENC_LIBRARIES SVTENC_INCLUDE_DIR
+                                  VERSION_VAR _SVTENC_VERSION)
+
+mark_as_advanced(SVTENC_INCLUDE_DIR SVTENC_LIBRARY SVTENC_LIBRARIES)

svtav1_image_transport/include/svtav1_image_transport/svtav1_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 SVTAV1_IMAGE_TRANSPORT__SVTAV1_COMMON_HPP_
+#define SVTAV1_IMAGE_TRANSPORT__SVTAV1_COMMON_HPP_
+
+#include <rclcpp/parameter_value.hpp>
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
+
+namespace svtav1_image_transport
+{
+using ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor;
+using ParameterValue = rclcpp::ParameterValue;
+
+struct ParameterDefinition
+{
+  const ParameterValue defaultValue;
+  const ParameterDescriptor descriptor;
+};
+}  // namespace svtav1_image_transport
+
+#endif  // SVTAV1_IMAGE_TRANSPORT__SVTAV1_COMMON_HPP_

svtav1_image_transport/include/svtav1_image_transport/svtav1_publisher.hpp

@@ -0,0 +1,105 @@
+// 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 SVTAV1_IMAGE_TRANSPORT__SVTAV1_PUBLISHER_HPP_
+#define SVTAV1_IMAGE_TRANSPORT__SVTAV1_PUBLISHER_HPP_
+
+#include <svt-av1/EbSvtAv1Enc.h>
+
+#include <cstdint>
+#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 "svtav1_image_transport/svtav1_common.hpp"
+
+#include <opencv2/core/mat.hpp>
+
+namespace svtav1_image_transport
+{
+using CompressedImage = sensor_msgs::msg::CompressedImage;
+using ParameterEvent = rcl_interfaces::msg::ParameterEvent;
+
+class SVTAV1Publisher : public image_transport::SimplePublisherPlugin<CompressedImage>
+{
+public:
+  SVTAV1Publisher();
+  ~SVTAV1Publisher() 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;
+
+  void Initialize(int width, int height) const;
+
+  rclcpp::Logger logger_;
+  rclcpp::Node * node_;
+
+private:
+  void set_default_svt_configuration(int width, int height) const;
+
+  std::vector<std::string> parameters_;
+
+  void declareParameter(
+    const std::string & base_name,
+    const ParameterDefinition & definition);
+
+  /* SVT-AV1 Encoder Handle */
+  mutable EbComponentType * svt_encoder{nullptr};
+  /* SVT-AV1 configuration */
+  mutable EbSvtAv1EncConfiguration * svt_config{nullptr};
+  mutable uint64_t frame_count;
+  // int dts_offset;
+  mutable EbBufferHeaderType * input_buf{nullptr};
+
+  mutable std::mutex mutex;
+  mutable cv::Mat ycrcb_planes[3];
+};
+
+}  // namespace svtav1_image_transport
+
+#endif  // SVTAV1_IMAGE_TRANSPORT__SVTAV1_PUBLISHER_HPP_