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‎.github/workflows/ci.yaml‎

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# SPDX-License-Identifier: BSD-3-Clause
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# SPDX-FileCopyrightText: Czech Technical University in Prague
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# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
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# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
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name: CI
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# This determines when this workflow is run
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on:
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push:
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branches: "master"
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pull_request:
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branches: "*"
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jobs:
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license_lint:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: REUSE Compliance Check
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uses: fsfe/reuse-action@v5
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industrial_ci:
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strategy:
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matrix:
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env:
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- ROS_DISTRO: melodic
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DOCKER_IMAGE: "ros:melodic-perception-bionic"
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AFTER_SETUP_UPSTREAM_WORKSPACE: "echo 'yaml https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml' > /etc/ros/rosdep/sources.list.d/21-master.list && rosdep update --include-eol-distros --rosdistro melodic"
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- ROS_DISTRO: noetic
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ROS_REPO: testing
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DOCKER_IMAGE: "ros:noetic-perception-focal"
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os: ["ubuntu-24.04", "ubuntu-24.04-arm"]
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name: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.os }}"
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env:
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CCACHE_DIR: ${{ github.workspace }}/.ccache # Directory for ccache (and how we enable ccache in industrial_ci)
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runs-on: ${{ matrix.os }}
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steps:
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- uses: actions/checkout@v4
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# This step will fetch/store the directory used by ccache before/after the ci run
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- name: Cache ccache
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uses: rhaschke/cache@main
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-${{ matrix.os }}-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-${{ matrix.os }}-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
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ccache-${{ matrix.os }}-${{ matrix.env.ROS_DISTRO }}
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env:
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GHA_CACHE_SAVE: always
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# Run industrial_ci
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{ matrix.env }}

‎CMakeLists.txt‎

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# SPDX-License-Identifier: BSD-3-Clause
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# SPDX-FileCopyrightText: Czech Technical University in Prague
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cmake_minimum_required(VERSION 3.10.2)
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project(cv_image_transport)
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find_package(catkin REQUIRED COMPONENTS
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cras_cpp_common
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cras_topic_tools
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cv_bridge
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dynamic_reconfigure
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image_transport
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image_transport_codecs
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pluginlib
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sensor_msgs
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)
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catkin_python_setup()
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generate_dynamic_reconfigure_options(cfg/CVPublisher.cfg)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES cv_codec
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CATKIN_DEPENDS cras_cpp_common cras_topic_tools image_transport_codecs sensor_msgs
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)
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include_directories(include ${catkin_INCLUDE_DIRS})
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add_library(cv_codec src/cv_codec.cpp src/parse_compressed_format.cpp)
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target_link_libraries(cv_codec PUBLIC ${catkin_LIBRARIES})
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add_dependencies(cv_codec ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_library(cv_codec_plugin src/cv_codec_plugin.cpp)
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target_link_libraries(cv_codec_plugin ${catkin_LIBRARIES} cv_codec)
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add_dependencies(cv_codec_plugin ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_library(${PROJECT_NAME} src/cv_publisher.cpp src/cv_subscriber.cpp)
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} cv_codec)
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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install(TARGETS cv_codec cv_codec_plugin ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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install(FILES
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codec.xml
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transport.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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if (CATKIN_ENABLE_TESTING)
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find_package(rosbag REQUIRED)
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find_package(roslaunch REQUIRED)
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find_package(roslint REQUIRED)
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find_package(rostest REQUIRED)
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roslint_custom(catkin_lint "-W2" .)
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# Roslint C++ - checks formatting and some other rules for C++ files
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file(GLOB_RECURSE ROSLINT_FILES include/*.h src/*.c src/*.cpp test/*.cpp)
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set(ROSLINT_CPP_OPTS "--extensions=h,hpp,hh,c,cpp,cc;--linelength=120;--filter=\
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-build/header_guard,-build/include,-readability/namespace,-whitespace/braces,-runtime/references,\
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-build/c++11,-readability/nolint,-readability/todo,-legal/copyright")
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roslint_cpp(${ROSLINT_FILES})
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# Roslint C++ - checks formatting and some other rules for C++ files
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file(GLOB_RECURSE ROSLINT_PY_FILES src/*.py test/*.py)
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roslint_python(${ROSLINT_PY_FILES})
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roslint_add_test()
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include_directories(${rosbag_INCLUDE_DIRS})
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catkin_add_gtest(test_codec test/test_codec.cpp)
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target_link_libraries(test_codec ${catkin_LIBRARIES} ${rosbag_LIBRARIES})
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add_dependencies(test_codec cv_codec_plugin)
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target_compile_definitions(test_codec PRIVATE TEST_DATA_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/test/data\")
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catkin_add_nosetests(test/test_codec.py DEPENDENCIES cv_codec_plugin cv_codec ${catkin_EXPORTED_TARGETS})
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add_rostest_gmock(test_${PROJECT_NAME} test/test_${PROJECT_NAME}.test test/test_${PROJECT_NAME}.cpp)
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target_link_libraries(test_${PROJECT_NAME} ${catkin_LIBRARIES} ${rosbag_LIBRARIES})
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add_dependencies(test_${PROJECT_NAME} ${PROJECT_NAME})
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target_compile_definitions(test_${PROJECT_NAME} PRIVATE TEST_DATA_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/test/data\")
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roslaunch_add_file_check(test/test_${PROJECT_NAME}.test USE_TEST_DEPENDENCIES)
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endif()

‎LICENSE‎

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LICENSES/BSD-3-Clause.txt

‎LICENSES/BSD-3-Clause.txt‎

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Copyright (c) 2025 Czech Technical University in Prague.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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2. 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.
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3. 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.
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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 HOLDER 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.

‎LICENSES/CC0-1.0.txt‎

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Creative Commons Legal Code
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CC0 1.0 Universal
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LEGAL SERVICES. DISTRIBUTION OF THIS DOCUMENT DOES NOT CREATE AN
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ATTORNEY-CLIENT RELATIONSHIP. CREATIVE COMMONS PROVIDES THIS
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INFORMATION ON AN "AS-IS" BASIS. CREATIVE COMMONS MAKES NO WARRANTIES
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REGARDING THE USE OF THIS DOCUMENT OR THE INFORMATION OR WORKS
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PROVIDED HEREUNDER, AND DISCLAIMS LIABILITY FOR DAMAGES RESULTING FROM
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THE USE OF THIS DOCUMENT OR THE INFORMATION OR WORKS PROVIDED
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HEREUNDER.
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Statement of Purpose
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exclusive Copyright and Related Rights (defined below) upon the creator
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‎README.md‎

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<!--
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SPDX-License-Identifier: BSD-3-Clause
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SPDX-FileCopyrightText: Czech Technical University in Prague
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-->
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# OpenCV Image Transport
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This package provides ROS image transport "cv" which compresses images using OpenCV `imencode/imdecode` functions.
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The `data` field of the `CompressedImage` messages can be directly stored as image files of the corresponding type and interpreted by other programs.
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The JPEG and PNG encoding done by this package is the same as `compressed_image_transport`. For better compatibility, use that package if possible.
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This image transport also provides the [image_transport_codecs](https://wiki.ros.org/image_transport_codecs) interface.
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This means it is possible to directly encode/decode images from C++/Python code without the need for going through
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a pub/sub cycle. You don't even need a ROS master for the conversion.
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## C/C++ ABI stability
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Currently, the package offers encoder options corresponding to `cv::imencode()` in version 4.12 and 5.0.0-alpha.
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The related C and C++ structs can change in the future as new `imencode` options will be added.
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Make sure when using the C or C++ API directly to always update and rebuild both this and the dependent package at the
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same time. Otherwise, memory corruption and segfault errors can happen.
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## Build Status
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[![CI](https://github.com/ctu-vras/cv_image_transport/actions/workflows/ci.yaml/badge.svg)](https://github.com/ctu-vras/cv_image_transport/actions/workflows/ci.yaml)

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