add image_transport_plugins, support compressed and theora transport

ros/image_transport_plugin/.travis.yml

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+sudo: required
+dist: trusty
+language: generic
+env:
+  - OPENCV_VERSION=2 ROS_DISTRO=indigo
+  - OPENCV_VERSION=3 ROS_DISTRO=indigo
+  - OPENCV_VERSION=2 ROS_DISTRO=jade
+  - OPENCV_VERSION=3 ROS_DISTRO=jade
+# Install system dependencies, namely ROS.
+before_install:
+  # Define some config vars.
+  - export ROS_CI_DESKTOP=`lsb_release -cs`  # e.g. [precise|trusty]
+  - export CI_SOURCE_PATH=$(pwd)
+  - export REPOSITORY_NAME=${PWD##*/}
+  - export ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
+  - export CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
+  - export ROS_PARALLEL_JOBS='-j8 -l6'
+  # Install ROS
+  - sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+  - sudo apt-get update -qq
+  # Install ROS
+  - sudo apt-get install -y python-catkin-pkg python-catkin-tools python-rosdep python-wstool ros-$ROS_DISTRO-catkin
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  # Setup for rosdep
+  - sudo rosdep init
+  - rosdep update
+
+# Create a catkin workspace with the package under test.
+install:
+  - mkdir -p ~/catkin_ws/src
+
+  # Add the package under test to the workspace.
+  - cd ~/catkin_ws/src
+  - ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
+
+  - if [ $OPENCV_VERSION == 3 ]; then  sed -i 's@libopencv-dev@opencv3@' $REPOSITORY_NAME/*/package.xml ; fi
+
+# Install all dependencies, using wstool and rosdep.
+# wstool looks for a ROSINSTALL_FILE defined in before_install.
+before_script:
+  # source dependencies: install using wstool.
+  - cd ~/catkin_ws/src
+  - wstool init
+  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
+  - wstool up
+
+  # package depdencies: install using rosdep.
+  - cd ~/catkin_ws
+  - rosdep install -q -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+
+# Compile and test.
+script:
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - cd ~/catkin_ws
+  - catkin build -p1 -j1 --no-status
+  - catkin run_tests -p1 -j1
+  - catkin_test_results --all build
+  - catkin clean -b --yes
+  - catkin config --install
+  - catkin build -p1 -j1 --no-status
+after_failure:
+  - find ${HOME}/.ros/test_results -type f -exec echo "== {} ==" \; -exec cat {} \;
+  - for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat $file; done

ros/image_transport_plugin/compressed_depth_image_transport/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package compressed_depth_image_transport
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.9.5 (2016-10-03)
+------------------
+* disable -Werr
+* Contributors: Vincent Rabaud
+
+1.9.4 (2016-10-02)
+------------------
+* address gcc6 build error and tune
+  With gcc6, compiling fails with `stdlib.h: No such file or directory`,
+  as including '-isystem /usr/include' breaks with gcc6, cf.,
+  https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
+  This commit addresses this issue for this package in the same way
+  it was addressed in various other ROS packages. A list of related
+  commits and pull requests is at:
+  https://github.com/ros/rosdistro/issues/12783
+  Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+* Fix a missing return statement and add -Wall -Werror.
+* Contributors: Lukas Bulwahn, Mac Mason
+
+1.9.3 (2016-01-17)
+------------------
+* Refactor the codec into its own .h and .cpp.
+* remove useless tf dependencies
+* Contributors: Mac Mason, Vincent Rabaud
+
+1.9.2 (2015-04-25)
+------------------
+* use compression parameters for both depths
+  fixes `#12 <https://github.com/ros-perception/image_transport_plugins/issues/12>`_
+* get code to compile with OpenCV3
+* Contributors: Vincent Rabaud
+
+1.9.1 (2014-07-18)
+------------------
+
+1.9.0 (2014-05-16)
+------------------
+
+1.8.21 (2013-06-27)
+-------------------
+* maintainer: david gossow
+* Contributors: David Gossow
+
+1.8.20 (2013-03-18)
+-------------------
+* 1.8.19 -> 1.8.20
+* Contributors: Julius Kammerl
+
+1.8.19 (2013-02-24)
+-------------------
+* 1.8.18 -> 1.8.19
+* Contributors: Julius Kammerl
+
+1.8.18 (2013-02-07 17:59)
+-------------------------
+* 1.8.17 -> 1.8.18
+* fixing input format checks (enabling rgba, bgra) + minor fixes
+* Contributors: Julius Kammerl
+
+1.8.17 (2013-01-18)
+-------------------
+* 1.8.16 -> 1.8.17
+* Contributors: Julius Kammerl
+
+1.8.16 (2013-01-17)
+-------------------
+* 1.8.15 -> 1.8.16
+* use the pluginlib script to remove some runtime warnings
+* Contributors: Julius Kammerl, Vincent Rabaud
+
+1.8.15 (2012-12-28 20:11)
+-------------------------
+
+1.8.14 (2012-12-28 20:02)
+-------------------------
+
+1.8.13 (2012-12-28 19:06)
+-------------------------
+* fix the bad exports
+* make sure the plugins are visible by image_transport
+* added license headers to various cpp and h files
+* Contributors: Aaron Blasdel, Vincent Rabaud
+
+1.8.12 (2012-12-19 19:30)
+-------------------------
+* fix downstream stuff in cmake
+* Contributors: Dirk Thomas
+
+1.8.11 (2012-12-19 17:17)
+-------------------------
+* fix cmake order
+* Contributors: Dirk Thomas
+
+1.8.10 (2012-12-19 17:03)
+-------------------------
+* fix dyn reconf
+* Contributors: Dirk Thomas
+
+1.8.9 (2012-12-19 00:26)
+------------------------
+* switching to verion 1.8.9
+* Contributors: Julius Kammerl
+
+1.8.8 (2012-12-17)
+------------------
+* adding build_deb on message_generation & mrun_deb on message_runtime
+* Updated package.xml for new buildtool_depend tag for catkin requirement
+* Contributors: Julius Kammerl, mirzashah
+
+1.8.7 (2012-12-10 15:29)
+------------------------
+* adding missing tf build dependency
+* Contributors: Julius Kammerl
+
+1.8.6 (2012-12-10 15:08)
+------------------------
+* switching to version 1.8.6
+* Contributors: Julius Kammerl
+
+1.8.5 (2012-12-09)
+------------------
+* adding missing build debs
+* added class_loader_hide_library_symbols macros to CMakeList
+* switching to 1.8.5
+* Contributors: Julius Kammerl
+
+1.8.4 (2012-11-30)
+------------------
+* switching to version 1.8.4
+* adding plugin.xml exports for pluginlib
+* catkinizing theora_image_transport
+* catkinizing compressed_depth_image_transport
+* github migration from code.ros.org (r40053)
+* Contributors: Julius Kammerl

ros/image_transport_plugin/compressed_depth_image_transport/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(compressed_depth_image_transport)
+
+if (CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
+#  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror")
+endif()
+
+find_package(OpenCV REQUIRED)
+find_package(catkin REQUIRED cv_bridge dynamic_reconfigure image_transport)
+
+# generate the dynamic_reconfigure config file
+generate_dynamic_reconfigure_options(cfg/CompressedDepthPublisher.cfg)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS cv_bridge dynamic_reconfigure image_transport
+  DEPENDS OpenCV
+)
+
+include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+
+add_library(${PROJECT_NAME} src/compressed_depth_publisher.cpp src/compressed_depth_subscriber.cpp src/manifest.cpp src/codec.cpp)
+add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+
+class_loader_hide_library_symbols(${PROJECT_NAME})
+
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+)
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+# add xml file
+install(FILES compressed_depth_plugins.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

ros/image_transport_plugin/compressed_depth_image_transport/cfg/CompressedDepthPublisher.cfg

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+#! /usr/bin/env python
+
+PACKAGE='compressed_depth_image_transport'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("depth_max", double_t, 0, "Maximum depth value (meter) ", 10 , 1, 100)
+gen.add("depth_quantization", double_t, 0, "Depth value at which the sensor accuracy is 1 m (Kinect: >75)", 100, 1, 150)
+gen.add("png_level", int_t, 0, "PNG compression level", 9, 1, 9)
+
+
+exit(gen.generate(PACKAGE, "CompressedDepthPublisher", "CompressedDepthPublisher"))

ros/image_transport_plugin/compressed_depth_image_transport/compressed_depth_plugins.xml

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+<library path="lib/libcompressed_depth_image_transport">
+  <class name="image_transport/compressedDepth_pub" type="compressed_depth_image_transport::CompressedDepthPublisher" base_class_type="image_transport::PublisherPlugin">
+    <description>
+      This plugin publishes a compressed depth images using PNG compression.
+    </description>
+  </class>
+
+  <class name="image_transport/compressedDepth_sub" type="compressed_depth_image_transport::CompressedDepthSubscriber" base_class_type="image_transport::SubscriberPlugin">
+    <description>
+      This plugin decodes a compressed depth images.
+    </description>
+  </class>
+</library>

ros/image_transport_plugin/compressed_depth_image_transport/include/compressed_depth_image_transport/codec.h

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+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2012, Willow Garage.
+*  Copyright (c) 2016, Google, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+#include <opencv2/core/core.hpp>
+
+#include "sensor_msgs/CompressedImage.h"
+#include "sensor_msgs/Image.h"
+#include "sensor_msgs/image_encodings.h"
+
+// Encoding and decoding of compressed depth images.
+namespace compressed_depth_image_transport
+{
+
+// Returns a null pointer on bad input.
+sensor_msgs::Image::Ptr decodeCompressedDepthImage(const sensor_msgs::CompressedImage& compressed_image);
+
+// Compress a depth image. The png_compression parameter is passed straight through to
+// OpenCV as IMWRITE_PNG_COMPRESSION. Returns a null pointer on bad input.
+sensor_msgs::CompressedImage::Ptr encodeCompressedDepthImage(
+    const sensor_msgs::Image& message,
+    double depth_max,
+    double depth_quantization,
+    int png_level);
+
+}  // namespace compressed_depth_image_transport