feat: add some image transport

Signed-off-by: wep21 <[email protected]>

Author: wep21

patch/ros-humble-ffmpeg-encoder-decoder.patch

@@ -0,0 +1,54 @@
+diff --git a/src/decoder.cpp b/src/decoder.cpp
+index 0a12d25..10834e3 100644
+--- a/src/decoder.cpp
++++ b/src/decoder.cpp
+@@ -38,7 +38,11 @@ Decoder::~Decoder() { reset(); }
+ void Decoder::reset()
+ {
+   if (codecContext_) {
++#if LIBAVFORMAT_VERSION_MAJOR < 59
+     avcodec_close(codecContext_);
++#else
++    avcodec_free_context(&codecContext_);
++#endif
+     av_free(codecContext_);
+     codecContext_ = NULL;
+   }
+diff --git a/src/encoder.cpp b/src/encoder.cpp
+index a4b6de6..2e1d4a2 100644
+--- a/src/encoder.cpp
++++ b/src/encoder.cpp
+@@ -54,7 +54,11 @@ static void free_frame(AVFrame ** frame)
+ void Encoder::closeCodec()
+ {
+   if (codecContext_) {
++#if LIBAVFORMAT_VERSION_MAJOR < 59
+     avcodec_close(codecContext_);
++#else
++    avcodec_free_context(&codecContext_);
++#endif
+     codecContext_ = nullptr;
+   }
+   free_frame(&frame_);
+diff --git a/src/utils.cpp b/src/utils.cpp
+index da089e4..01e8eea 100644
+--- a/src/utils.cpp
++++ b/src/utils.cpp
+@@ -104,8 +104,15 @@ enum AVPixelFormat get_preferred_pixel_format(
+ std::vector<enum AVPixelFormat> get_encoder_formats(const AVCodec * c)
+ {
+   std::vector<enum AVPixelFormat> formats;
+-  if (c && c->pix_fmts) {
+-    for (const auto * p = c->pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
++#if LIBAVUTIL_VERSION_MAJOR > 59 || (LIBAVUTIL_VERSION_MAJOR == 59 && LIBAVUTIL_VERSION_MINOR >= 39)
++  const enum AVPixelFormat *pix_fmts = NULL;
++  avcodec_get_supported_config(NULL, c, AV_CODEC_CONFIG_PIX_FORMAT, 0, (const void **) &pix_fmts, NULL);
++  if (c && pix_fmts) {
++#else
++  const enum AVPixelFormat *pix_fmts = c->pix_fmts;
++  if (c && pix_fmts) {
++#endif
++    for (const auto * p = pix_fmts; *p != AV_PIX_FMT_NONE; ++p) {
+       formats.push_back(*p);
+     }
+   }

vinca_linux_64.yaml

@@ -189,6 +189,10 @@ packages_select_by_deps:
 
   - open3d_conversions
 
+  - ffmpeg_image_transport
+
+  - foxglove_compressed_image_transport
+
   # ----- end of package support -----
 
   # - rtabmap

vinca_linux_aarch64.yaml

@@ -118,6 +118,10 @@ packages_select_by_deps:
 
   - open3d_conversions
 
+  - ffmpeg_image_transport
+
+  - foxglove_compressed_image_transport
+
   # Used to work, now needs fixes
   # - rtabmap
   # - webots-ros2

vinca_osx.yaml

@@ -140,5 +140,9 @@ packages_select_by_deps:
 
   - open3d_conversions
 
+  - ffmpeg_image_transport
+
+  - foxglove_compressed_image_transport
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml

vinca_osx_arm64.yaml

@@ -130,5 +130,9 @@ packages_select_by_deps:
 
   - open3d_conversions
 
+  - ffmpeg_image_transport
+
+  - foxglove_compressed_image_transport
+
 patch_dir: patch
 rosdistro_snapshot: rosdistro_snapshot.yaml