Merge pull request #315 from elephantum/feat/enable-usb-cam

Author: wolfv

patch/ros-humble-usb-cam.patch

@@ -1,26 +1,29 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 6c7abf3..3737f94 100644
+index 2387c32..0413704 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -15,8 +15,8 @@ ament_auto_find_build_dependencies()
+@@ -8,7 +8,7 @@ endif()
 
- ## pkg-config libraries
- find_package(PkgConfig REQUIRED)
--pkg_check_modules(avcodec libavcodec REQUIRED)
--pkg_check_modules(swscale libswscale REQUIRED)
-+pkg_search_module(avcodec libavcodec REQUIRED)
-+pkg_search_module(swscale libswscale REQUIRED)
+ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   if($ENV{ROS_VERSION} EQUAL 2)
+-    add_compile_options(-Wall -Wextra -Wpedantic -Werror)
++    add_compile_options(-Wall -Wextra -Wpedantic)
+   endif()
+ endif()
 
- include_directories(include
-   ${avcodec_INCLUDE_DIRS}
-@@ -35,8 +35,8 @@ ament_auto_add_library(${PROJECT_NAME}_node SHARED
+diff --git a/include/usb_cam/formats/av_pixel_format_helper.hpp b/include/usb_cam/formats/av_pixel_format_helper.hpp
+index ad1792e..1ea720d 100644
+--- a/include/usb_cam/formats/av_pixel_format_helper.hpp
++++ b/include/usb_cam/formats/av_pixel_format_helper.hpp
+@@ -744,11 +744,6 @@ const std::unordered_map<std::string, AVPixelFormat> STR_2_AVPIXFMT = {
+                                                                       ///< big-endian
 
- target_link_libraries(${PROJECT_NAME}_node
-   ${PROJECT_NAME}
--  ${avcodec_LIBRARIES}
--  ${swscale_LIBRARIES}
-+  ${avcodec_LINK_LIBRARIES}
-+  ${swscale_LINK_LIBRARIES}
-   # TODO(lucasw) should this have been in libavcodec?
-   #avutil
- )
+ 
+-  {stringify(AV_PIX_FMT_XVMC), AV_PIX_FMT_XVMC},                      ///< XVideo Motion
+-                                                                      ///< Acceleration via common
+-                                                                      ///< packet passing
+-
+-
+   {stringify(AV_PIX_FMT_YUV440P10LE), AV_PIX_FMT_YUV440P10LE},        ///< planar YUV 4:4:0,20bpp,
+                                                                       ///< (1 Cr & Cb sample per
+                                                                       ///< 1x2 Y samples),

vinca_linux_64.yaml

@@ -263,6 +263,7 @@ packages_select_by_deps:
   # Phidgets packages
   - topic_tools
 
+  - usb_cam
 # ----- end of package support -----
 
   # - rtabmap
@@ -282,7 +283,6 @@ packages_select_by_deps:
   # - gscam
 
   # - v4l2_camera
-  # - usb_cam
 
   # - zbar_ros
   # - vitis_common

vinca_linux_aarch64.yaml

@@ -189,6 +189,8 @@ packages_select_by_deps:
 
   - topic_tools
 
+  - usb-cam
+
   # Used to work, now needs fixes
   # - rtabmap
   # - webots-ros2
@@ -236,7 +238,6 @@ packages_select_by_deps:
   # - plansys2-bringup
   # - octovis
   # - gps-umd
-  # - usb-cam
   # - tvm-vendor
   # - ros2-socketcan
   # - mrpt2