move encoder->decoder map to decoder for public use

ros-misc-utilities · Mar 11, 2024 · c8de103 · c8de103
1 parent 5cf934d
commit c8de103
Show file tree

Hide file tree

Showing 4 changed files with 23 additions and 13 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -66,9 +66,10 @@ add_library(
   src/utils.cpp
   src/manifest.cpp)
 
-target_include_directories(${LIBRARY_NAME} PRIVATE
+target_include_directories(${LIBRARY_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+  "$<INSTALL_INTERFACE:include>")
+
 
 ament_target_dependencies(${LIBRARY_NAME}
   cv_bridge
@@ -90,6 +91,7 @@ ament_target_dependencies(test_encoder cv_bridge rclcpp sensor_msgs ffmpeg_image
 
 ament_export_dependencies(
   OpenCV
+  LIBAV
   cv_bridge
   image_transport
   pluginlib
@@ -99,10 +101,12 @@ ament_export_dependencies(
   std_msgs
   ffmpeg_image_transport_msgs)
 
-install(TARGETS ${LIBRARY_NAME} EXPORT export_${LIBRARY_NAME}
+install(TARGETS ${LIBRARY_NAME}
+  EXPORT export_${LIBRARY_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin)
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include)
 
 install(TARGETS test_encoder
   LIBRARY DESTINATION lib

diff --git a/include/ffmpeg_image_transport/ffmpeg_decoder.hpp b/include/ffmpeg_image_transport/ffmpeg_decoder.hpp
@@ -61,6 +61,7 @@ class FFMPEGDecoder
   void printTimers(const std::string & prefix) const;
   void resetTimers();
   void setLogger(rclcpp::Logger logger) { logger_ = logger; }
+  static const std::unordered_map<std::string, std::string> & getDefaultEncoderToDecoderMap();
 
 private:
   rclcpp::Logger logger_;

diff --git a/src/ffmpeg_decoder.cpp b/src/ffmpeg_decoder.cpp
@@ -26,6 +26,14 @@
 
 namespace ffmpeg_image_transport
 {
+// default mappings
+static const std::unordered_map<std::string, std::string> defaultMap{
+  {{"h264_nvenc", "h264"},
+   {"libx264", "h264"},
+   {"hevc_nvenc", "hevc_cuvid"},
+   {"h264_nvmpi", "h264"},
+   {"h264_vaapi", "h264"}}};
+
 FFMPEGDecoder::FFMPEGDecoder() : logger_(rclcpp::get_logger("FFMPEGDecoder")) {}
 
 FFMPEGDecoder::~FFMPEGDecoder() { reset(); }
@@ -57,7 +65,7 @@ bool FFMPEGDecoder::initialize(
 {
   std::string decoder = dec;
   if (decoder.empty()) {
-    RCLCPP_INFO_STREAM(logger_, "unknown encoding: " << msg->encoding);
+    RCLCPP_INFO_STREAM(logger_, "no decoder for encoding: " << msg->encoding);
     return (false);
   }
   callback_ = callback;
@@ -273,4 +281,8 @@ void FFMPEGDecoder::printTimers(const std::string & prefix) const
   RCLCPP_INFO_STREAM(logger_, prefix << " total decode: " << tdiffTotal_);
 }
 
+const std::unordered_map<std::string, std::string> & FFMPEGDecoder::getDefaultEncoderToDecoderMap()
+{
+  return (defaultMap);
+}
 }  // namespace ffmpeg_image_transport
diff --git a/src/ffmpeg_subscriber.cpp b/src/ffmpeg_subscriber.cpp
@@ -25,13 +25,6 @@ using namespace std::placeholders;
 namespace ffmpeg_image_transport
 {
 static const char nsc[] = "ffmpeg_image_transport.map.";
-// default mappings
-static const std::unordered_map<std::string, std::string> defaultMap{
-  {{"h264_nvenc", "h264"},
-   {"libx264", "h264"},
-   {"hevc_nvenc", "hevc_cuvid"},
-   {"h264_nvmpi", "h264"},
-   {"h264_vaapi", "h264"}}};
 
 FFMPEGSubscriber::FFMPEGSubscriber() : logger_(rclcpp::get_logger("FFMPEGSubscriber")) {}
 
@@ -67,7 +60,7 @@ void FFMPEGSubscriber::initialize(rclcpp::Node * node)
   node_ = node;
 
   // create parameters from default map
-  for (const auto & kv : defaultMap) {
+  for (const auto & kv : FFMPEGDecoder::getDefaultEncoderToDecoderMap()) {
     const std::string key = std::string(nsc) + kv.first;
     if (!node_->has_parameter(key)) {
       (void)node_->declare_parameter<std::string>(key, kv.second);