Common code for working with images in ROS:

camera_calibration_parsers contains routines for reading and writing camera
calibration parameters.

image_transport should always be used to subscribe to and publish images. It
provides transparent support for transporting images in low-bandwidth
compressed formats. Examples (provided by separate plugin packages) include
JPEG/PNG compression and Theora streaming video.

polled_camera contains a service and C++ helper classes for implementing a
polled camera driver node and requesting images from it. The package is
currently for internal use as the API is still under development.

WWW: http://www.ros.org/wiki/image_common

4 files changed, 200 insertions, 0 deletions

diff --git a/devel/ros-image_common/Makefile b/devel/ros-image_common/Makefile
new file mode 100644
index 000000000000..8e54b6aac97b
--- /dev/null
+++ b/devel/ros-image_common/Makefile
@@ -0,0 +1,78 @@
+# New ports collection makefile for: ros-image_common
+# Date created:	2010-11-27
+# Whom: Rene Ladan <rene@FreeBSD.org>
+#
+# $FreeBSD$
+
+PORTNAME=	ros-image_common
+PORTVERSION=	1.2.0
+CATEGORIES=	devel
+MASTER_SITES=	ftp://rene-ladan.nl/pub/distfiles/ros/
+DISTNAME=	image_common-${PORTVERSION}
+DIST_SUBDIR=	ros
+
+MAINTAINER=	rene@FreeBSD.org
+COMMENT=	Robot Operating System - common image routines
+
+LICENSE=	BSD
+
+STACKNAME=	${PORTNAME:S/ros-//}
+WRKSRC=		${WRKDIR}/${STACKNAME}
+
+BUILD_DEPENDS=	rosmake:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common/stack.xml:${PORTSDIR}/devel/ros-common \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs \
+		chrpath:${PORTSDIR}/devel/chrpath
+RUN_DEPENDS=	roscore:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common/stack.xml:${PORTSDIR}/devel/ros-common \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs
+USE_PYTHON=	yes
+USE_BZIP2=	yes
+USE_LDCONFIG=	yes
+
+# rosmake does its own threading
+MAKE_JOBS_UNSAFE=	yes
+
+CFLAGS+=	-I${LOCALBASE}/include
+MAKE_ENV+=	CPATH=${LOCALBASE}/include \
+		LIBRARY_PATH=${LOCALBASE}/lib \
+		MAKE=${LOCALBASE}/bin/gmake \
+		ROS_ROOT=${LOCALBASE}/ros/ros \
+		ROS_PACKAGE_PATH=${LOCALBASE}/ros/stacks/common:${LOCALBASE}/ros/stacks/common_msgs:${WRKSRC} \
+		PYTHONPATH=${LOCALBASE}/ros/ros/core/roslib/src
+
+MAKE_ARGS=	-i --no-rosdep --status-rate=0 --disable-logging
+
+do-build:
+	(cd ${WRKSRC} ; ${MAKE_ENV} ${LOCALBASE}/bin/rosmake ${MAKE_ARGS})
+
+do-install:
+	${MKDIR} ${PREFIX}/ros/stacks/${STACKNAME}
+# delete files explicitly because negation in find (for COPYTREE_SHARE) is bogus
+.for d in camera_calibration_parsers image_transport polled_camera
+	${FIND} ${WRKSRC}/${d} -name build -type d -or -name \*.bak -type f \
+	    -or -name .svnignore -type f -or -name .cvsignore -type f \
+	    -or -name \*.orig | ${XARGS} ${RM} -rf
+	(cd ${WRKSRC} ; ${COPYTREE_SHARE} ${d} ${PREFIX}/ros/stacks/${STACKNAME})
+.endfor
+.for f in CMakeLists.txt Makefile stack.xml
+	${INSTALL_DATA} ${WRKSRC}/${f} ${PREFIX}/ros/stacks/${STACKNAME}
+.endfor
+# strip ELF programs and make them executable
+.for f in camera_calibration_parsers/bin/convert \
+    image_transport/bin/list_transports image_transport/bin/republish \
+    polled_camera/bin/poller
+	${STRIP_CMD} ${PREFIX}/ros/stacks/${STACKNAME}/${f}
+	${LOCALBASE}/bin/chrpath -d ${PREFIX}/ros/stacks/${STACKNAME}/${f}
+	${CHMOD} 0555 ${PREFIX}/ros/stacks/${STACKNAME}/${f}
+.endfor
+# strip and symlink ELF libaries
+.for f in camera_calibration_parsers/lib/libcamera_calibration_parsers.so \
+    image_transport/lib/libimage_transport.so \
+    polled_camera/lib/libpolled_camera.so
+	${STRIP_CMD} ${PREFIX}/ros/stacks/${STACKNAME}/${f}
+	${LOCALBASE}/bin/chrpath -d ${PREFIX}/ros/stacks/${STACKNAME}/${f}
+	${LN} -s ${PREFIX}/ros/stacks/${STACKNAME}/${f} ${PREFIX}/lib
+.endfor
+
+.include <bsd.port.mk>
diff --git a/devel/ros-image_common/distinfo b/devel/ros-image_common/distinfo
new file mode 100644
index 000000000000..ff74b75d1651
--- /dev/null
+++ b/devel/ros-image_common/distinfo
@@ -0,0 +1,2 @@
+SHA256 (ros/image_common-1.2.0.tar.bz2) = 91ebf01f68d7485cf42dbde53749c1819f8fb266d9b2f1f1d803894a485b06aa
+SIZE (ros/image_common-1.2.0.tar.bz2) = 21669
diff --git a/devel/ros-image_common/pkg-descr b/devel/ros-image_common/pkg-descr
new file mode 100644
index 000000000000..7637690c8da0
--- /dev/null
+++ b/devel/ros-image_common/pkg-descr
@@ -0,0 +1,15 @@
+Common code for working with images in ROS:
+
+camera_calibration_parsers contains routines for reading and writing camera
+calibration parameters.
+
+image_transport should always be used to subscribe to and publish images. It
+provides transparent support for transporting images in low-bandwidth
+compressed formats. Examples (provided by separate plugin packages) include
+JPEG/PNG compression and Theora streaming video.
+
+polled_camera contains a service and C++ helper classes for implementing a
+polled camera driver node and requesting images from it. The package is
+currently for internal use as the API is still under development.
+
+WWW: http://www.ros.org/wiki/image_common
diff --git a/devel/ros-image_common/pkg-plist b/devel/ros-image_common/pkg-plist
new file mode 100644
index 000000000000..712d2de9872d
--- /dev/null
+++ b/devel/ros-image_common/pkg-plist
@@ -0,0 +1,105 @@
+lib/libcamera_calibration_parsers.so
+lib/libimage_transport.so
+lib/libpolled_camera.so
+ros/stacks/image_common/CMakeLists.txt
+ros/stacks/image_common/Makefile
+ros/stacks/image_common/camera_calibration_parsers/CMakeLists.txt
+ros/stacks/image_common/camera_calibration_parsers/Makefile
+ros/stacks/image_common/camera_calibration_parsers/ROS_NOBUILD
+ros/stacks/image_common/camera_calibration_parsers/bin/convert
+ros/stacks/image_common/camera_calibration_parsers/include/camera_calibration_parsers/parse.h
+ros/stacks/image_common/camera_calibration_parsers/include/camera_calibration_parsers/parse_ini.h
+ros/stacks/image_common/camera_calibration_parsers/include/camera_calibration_parsers/parse_yml.h
+ros/stacks/image_common/camera_calibration_parsers/lib/libcamera_calibration_parsers.so
+ros/stacks/image_common/camera_calibration_parsers/mainpage.dox
+ros/stacks/image_common/camera_calibration_parsers/manifest.xml
+ros/stacks/image_common/camera_calibration_parsers/src/convert.cpp
+ros/stacks/image_common/camera_calibration_parsers/src/parse.cpp
+ros/stacks/image_common/camera_calibration_parsers/src/parse_ini.cpp
+ros/stacks/image_common/camera_calibration_parsers/src/parse_yml.cpp
+ros/stacks/image_common/image_transport/CMakeLists.txt
+ros/stacks/image_common/image_transport/Makefile
+ros/stacks/image_common/image_transport/ROS_NOBUILD
+ros/stacks/image_common/image_transport/bin/list_transports
+ros/stacks/image_common/image_transport/bin/republish
+ros/stacks/image_common/image_transport/default_plugins.xml
+ros/stacks/image_common/image_transport/include/image_transport/camera_common.h
+ros/stacks/image_common/image_transport/include/image_transport/camera_publisher.h
+ros/stacks/image_common/image_transport/include/image_transport/camera_subscriber.h
+ros/stacks/image_common/image_transport/include/image_transport/exception.h
+ros/stacks/image_common/image_transport/include/image_transport/image_transport.h
+ros/stacks/image_common/image_transport/include/image_transport/loader_fwds.h
+ros/stacks/image_common/image_transport/include/image_transport/publisher.h
+ros/stacks/image_common/image_transport/include/image_transport/publisher_plugin.h
+ros/stacks/image_common/image_transport/include/image_transport/raw_publisher.h
+ros/stacks/image_common/image_transport/include/image_transport/raw_subscriber.h
+ros/stacks/image_common/image_transport/include/image_transport/simple_publisher_plugin.h
+ros/stacks/image_common/image_transport/include/image_transport/simple_subscriber_plugin.h
+ros/stacks/image_common/image_transport/include/image_transport/single_subscriber_publisher.h
+ros/stacks/image_common/image_transport/include/image_transport/subscriber.h
+ros/stacks/image_common/image_transport/include/image_transport/subscriber_filter.h
+ros/stacks/image_common/image_transport/include/image_transport/subscriber_plugin.h
+ros/stacks/image_common/image_transport/include/image_transport/transport_hints.h
+ros/stacks/image_common/image_transport/lib/libimage_transport.so
+ros/stacks/image_common/image_transport/mainpage.dox
+ros/stacks/image_common/image_transport/manifest.xml
+ros/stacks/image_common/image_transport/src/camera_common.cpp
+ros/stacks/image_common/image_transport/src/camera_publisher.cpp
+ros/stacks/image_common/image_transport/src/camera_subscriber.cpp
+ros/stacks/image_common/image_transport/src/image_transport.cpp
+ros/stacks/image_common/image_transport/src/list_transports.cpp
+ros/stacks/image_common/image_transport/src/manifest.cpp
+ros/stacks/image_common/image_transport/src/publisher.cpp
+ros/stacks/image_common/image_transport/src/republish.cpp
+ros/stacks/image_common/image_transport/src/single_subscriber_publisher.cpp
+ros/stacks/image_common/image_transport/src/subscriber.cpp
+ros/stacks/image_common/polled_camera/CMakeLists.txt
+ros/stacks/image_common/polled_camera/Makefile
+ros/stacks/image_common/polled_camera/ROS_NOBUILD
+ros/stacks/image_common/polled_camera/bin/poller
+ros/stacks/image_common/polled_camera/include/polled_camera/publication_server.h
+ros/stacks/image_common/polled_camera/lib/libpolled_camera.so
+ros/stacks/image_common/polled_camera/mainpage.dox
+ros/stacks/image_common/polled_camera/manifest.xml
+ros/stacks/image_common/polled_camera/src/polled_camera/__init__.py
+ros/stacks/image_common/polled_camera/src/polled_camera/srv/_GetPolledImage.py
+ros/stacks/image_common/polled_camera/src/polled_camera/srv/__init__.py
+ros/stacks/image_common/polled_camera/src/poller.cpp
+ros/stacks/image_common/polled_camera/src/publication_server.cpp
+ros/stacks/image_common/polled_camera/srv/GetPolledImage.srv
+ros/stacks/image_common/polled_camera/srv/lisp/polled_camera/.GetPolledImage.asd-dep
+ros/stacks/image_common/polled_camera/srv/lisp/polled_camera/GetPolledImage.lisp
+ros/stacks/image_common/polled_camera/srv/lisp/polled_camera/_package.lisp
+ros/stacks/image_common/polled_camera/srv/lisp/polled_camera/_package_GetPolledImage.lisp
+ros/stacks/image_common/polled_camera/srv/lisp/polled_camera/polled_camera-srv.asd
+ros/stacks/image_common/polled_camera/srv_gen/cpp/include/polled_camera/GetPolledImage.h
+ros/stacks/image_common/polled_camera/srv_gen/generated
+ros/stacks/image_common/stack.xml
+@dirrm ros/stacks/image_common/polled_camera/srv_gen/cpp/include/polled_camera
+@dirrm ros/stacks/image_common/polled_camera/srv_gen/cpp/include
+@dirrm ros/stacks/image_common/polled_camera/srv_gen/cpp
+@dirrm ros/stacks/image_common/polled_camera/srv_gen
+@dirrm ros/stacks/image_common/polled_camera/srv/lisp/polled_camera
+@dirrm ros/stacks/image_common/polled_camera/srv/lisp
+@dirrm ros/stacks/image_common/polled_camera/srv
+@dirrm ros/stacks/image_common/polled_camera/src/polled_camera/srv
+@dirrm ros/stacks/image_common/polled_camera/src/polled_camera
+@dirrm ros/stacks/image_common/polled_camera/src
+@dirrm ros/stacks/image_common/polled_camera/lib
+@dirrm ros/stacks/image_common/polled_camera/include/polled_camera
+@dirrm ros/stacks/image_common/polled_camera/include
+@dirrm ros/stacks/image_common/polled_camera/bin
+@dirrm ros/stacks/image_common/polled_camera
+@dirrm ros/stacks/image_common/image_transport/src
+@dirrm ros/stacks/image_common/image_transport/lib
+@dirrm ros/stacks/image_common/image_transport/include/image_transport
+@dirrm ros/stacks/image_common/image_transport/include
+@dirrm ros/stacks/image_common/image_transport/bin
+@dirrm ros/stacks/image_common/image_transport
+@dirrm ros/stacks/image_common/camera_calibration_parsers/src
+@dirrm ros/stacks/image_common/camera_calibration_parsers/lib
+@dirrm ros/stacks/image_common/camera_calibration_parsers/include/camera_calibration_parsers
+@dirrm ros/stacks/image_common/camera_calibration_parsers/include
+@dirrm ros/stacks/image_common/camera_calibration_parsers/bin
+@dirrm ros/stacks/image_common/camera_calibration_parsers
+@dirrm ros/stacks/image_common