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‎.clang-format‎

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---
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Language: Cpp
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BasedOnStyle: Google
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AccessModifierOffset: -2
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AlignAfterOpenBracket: AlwaysBreak
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BraceWrapping:
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AfterClass: true
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AfterFunction: true
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AfterNamespace: true
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AfterStruct: true
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BreakBeforeBraces: Custom
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ColumnLimit: 100
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ConstructorInitializerIndentWidth: 0
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ContinuationIndentWidth: 2
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DerivePointerAlignment: false
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PointerAlignment: Middle
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ReflowComments: false
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...
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‎.github/workflows/ci.yaml‎

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#
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# continuous integration workflow
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#
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name: build repo
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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: [master]
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workflow_dispatch:
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branches: [master]
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jobs:
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build_ros2:
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uses: ros-misc-utilities/ros_build_scripts/.github/workflows/ros2_ci.yml@master
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with:
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repo: ${{ github.event.repository.name }}
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# vcs_url: https://raw.githubusercontent.com/${{ github.repository }}/master/${{ github.event.repository.name }}.repos

‎CMakeLists.txt‎

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#
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# Copyright 2024 Bernd Pfrommer <[email protected]>
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.16)
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project(ffmpeg_encoder_decoder)
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add_compile_options(-Wall -Wextra -Wpedantic -Werror)
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(OpenCV REQUIRED imgproc)
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if(${cv_bridge_VERSION} GREATER "3.3.0")
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add_definitions(-DUSE_CV_BRIDGE_HPP)
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endif()
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set(FFMPEG_PKGCONFIG "" CACHE STRING "extra path to pkgconfig")
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if("${FFMPEG_PKGCONFIG}" STREQUAL "")
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else()
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message(WARNING "using FFMPEG package from ${FFMPEG_PKGCONFIG}")
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endif()
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set(ENV{PKG_CONFIG_PATH} ${FFMPEG_PKGCONFIG})
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find_package(PkgConfig REQUIRED)
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pkg_check_modules(LIBAV REQUIRED IMPORTED_TARGET
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libavcodec
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libswresample
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libswscale
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libavutil)
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set(FFMPEG_PKGCONFIG "" CACHE STRING "extra path to pkgconfig")
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if("${FFMPEG_PKGCONFIG}" STREQUAL "")
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else()
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message(WARNING "using FFMPEG package from ${FFMPEG_PKGCONFIG}")
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endif()
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set(ENV{PKG_CONFIG_PATH} ${FFMPEG_PKGCONFIG})
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find_package(PkgConfig REQUIRED)
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pkg_check_modules(LIBAV REQUIRED IMPORTED_TARGET
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libavcodec
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libswresample
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libswscale
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libavutil)
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if(LIBAV_libavcodec_VERSION VERSION_GREATER_EQUAL 60.0.0)
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add_definitions(-DUSE_AV_FLAGS)
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endif()
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#
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# --------- encoding/decoding library
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#
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add_library(${PROJECT_NAME}
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SHARED
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src/encoder.cpp
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src/decoder.cpp
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src/utils.cpp
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src/tdiff.cpp)
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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ament_target_dependencies(${PROJECT_NAME}
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PUBLIC
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cv_bridge
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rclcpp
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sensor_msgs)
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target_link_libraries(${PROJECT_NAME}
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PUBLIC
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opencv_imgproc
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PkgConfig::LIBAV)
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ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
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ament_export_dependencies(
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OpenCV
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LIBAV
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cv_bridge
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rclcpp
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sensor_msgs
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std_msgs)
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install(
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DIRECTORY include/
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DESTINATION include
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)
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install(
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TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}Targets
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include)
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if(BUILD_TESTING)
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_copyright REQUIRED)
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find_package(ament_cmake_cppcheck REQUIRED)
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find_package(ament_cmake_cpplint REQUIRED)
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find_package(ament_cmake_clang_format REQUIRED)
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find_package(ament_cmake_flake8 REQUIRED)
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find_package(ament_cmake_lint_cmake REQUIRED)
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find_package(ament_cmake_pep257 REQUIRED)
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find_package(ament_cmake_xmllint REQUIRED)
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ament_copyright()
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ament_cppcheck(LANGUAGE c++)
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ament_cpplint(FILTERS "-build/include,-runtime/indentation_namespace")
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ament_clang_format(CONFIG_FILE .clang-format)
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ament_flake8()
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ament_lint_cmake()
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ament_pep257()
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ament_xmllint()
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find_package(ament_cmake_gtest REQUIRED)
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ament_add_gtest(${PROJECT_NAME}_encoder_test test/encoder_test.cpp
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WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/test)
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target_include_directories(${PROJECT_NAME}_encoder_test PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_link_libraries(${PROJECT_NAME}_encoder_test ${PROJECT_NAME})
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endif()
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME})
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ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
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ament_package(CONFIG_EXTRAS cmake/${PROJECT_NAME}-extras.cmake.in)

‎CONTRIBUTING.md‎

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Any contribution that you make to this repository will
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be under the Apache 2 License, as dictated by that
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[license](http://www.apache.org/licenses/LICENSE-2.0.html):
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~~~
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5. Submission of Contributions. Unless You explicitly state otherwise,
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any Contribution intentionally submitted for inclusion in the Work
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by You to the Licensor shall be under the terms and conditions of
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this License, without any additional terms or conditions.
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Notwithstanding the above, nothing herein shall supersede or modify
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the terms of any separate license agreement you may have executed
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with Licensor regarding such Contributions.
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~~~
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Contributors must sign-off each commit by adding a `Signed-off-by: ...`
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line to commit messages to certify that they have the right to submit
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the code they are contributing to the project according to the
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[Developer Certificate of Origin (DCO)](https://developercertificate.org/).

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