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codecs in compressed_depth_image_transport as standalone library #50

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codecs in compressed_depth_image_transport as standalone library #50

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12e1038
codecs in compressed_depth_image_transport as standalone library
bbferka Feb 24, 2020
1db1cb8
fix unit test
bbferka Feb 24, 2020
1198bc7
added new lib to installation
bbferka Mar 1, 2020
b7385bc
adding fallback option for compression format.
bbferka Mar 1, 2020
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16 changes: 11 additions & 5 deletions compressed_depth_image_transport/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,21 +13,27 @@ generate_dynamic_reconfigure_options(cfg/CompressedDepthPublisher.cfg)

catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_codecs
CATKIN_DEPENDS cv_bridge dynamic_reconfigure image_transport
DEPENDS OpenCV
)

include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})

set(SOURCE_FILES src/compressed_depth_publisher.cpp src/compressed_depth_subscriber.cpp src/manifest.cpp src/codec.cpp src/rvl_codec.cpp)
set(CODEC_SOURCE_FILES src/codec.cpp src/rvl_codec.cpp)
set(SOURCE_FILES src/compressed_depth_publisher.cpp src/compressed_depth_subscriber.cpp src/manifest.cpp)

add_library(${PROJECT_NAME}_codecs ${CODEC_SOURCE_FILES})
target_link_libraries(${PROJECT_NAME}_codecs ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

add_library(${PROJECT_NAME} ${SOURCE_FILES})
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${PROJECT_NAME}_codecs ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

class_loader_hide_library_symbols(${PROJECT_NAME})

install(TARGETS ${PROJECT_NAME}

install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_codecs
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
Expand All @@ -43,7 +49,7 @@ install(FILES compressed_depth_plugins.xml

if(CATKIN_ENABLE_TESTING)
# Build ${PROJECT_NAME}_test library with symbols exported.
add_library(${PROJECT_NAME}_test ${SOURCE_FILES})
add_library(${PROJECT_NAME}_test ${SOURCE_FILES} ${CODEC_SOURCE_FILES})
add_dependencies(${PROJECT_NAME}_test ${PROJECT_NAME}_gencfg)
target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

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11 changes: 7 additions & 4 deletions compressed_depth_image_transport/src/codec.cpp
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Expand Up @@ -76,12 +76,15 @@ sensor_msgs::Image::Ptr decodeCompressedDepthImage(const sensor_msgs::Compressed
// Older version of compressed_depth_image_transport supports only png.
if (split_pos == std::string::npos) {
compression_format = "png";
} else {
}
else {
std::string format = message.format.substr(split_pos);
if (format.find("compressedDepth png") != std::string::npos) {
compression_format = "png";
} else if (format.find("compressedDepth rvl") != std::string::npos) {
if (format.find("compressedDepth rvl") != std::string::npos) {
compression_format = "rvl";
} else if (format.find("compressedDepth png") != std::string::npos) {
compression_format = "png";
} else if (format.find("compressedDepth") != std::string::npos) {
compression_format = "png";
} else {
ROS_ERROR("Unsupported image format: %s", message.format.c_str());
return sensor_msgs::Image::Ptr();
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