feat: add video encoder support

src/accelerated_image_processor_common/include/accelerated_image_processor_common/datatype.hpp

@@ -17,6 +17,7 @@
 #include <array>
 #include <cstddef>
 #include <cstdint>
+#include <optional>
 #include <string>
 #include <vector>
 
@@ -30,7 +31,7 @@ enum class ImageEncoding : uint8_t { RGB, BGR };
 /**
  * @brief Enumeration of image compression formats.
  */
-enum class ImageFormat : uint8_t { RAW, JPEG, PNG };
+enum class ImageFormat : uint8_t { RAW, JPEG, PNG, H264, H265, AV1 };
 
 /**
  * @brief Structure representing an image.
@@ -41,10 +42,17 @@ struct Image
   int64_t timestamp;          //!< Timestamp at the image is captured
   uint32_t height;            //!< Image height, that is, number of rows
   uint32_t width;             //!< Image width, that is, number of columns
-  uint32_t step;              //!< Full row length in bytes
-  ImageEncoding encoding;     //!< Image color encoding
   ImageFormat format;         //!< Image compression format
   std::vector<uint8_t> data;  //!< Actual matrix data
+  bool is_bigendian;          //!< true if machine stores in big endian format
+
+  // Image / CompressedImage dedicated fields
+  uint32_t step;           //!< Full row length in bytes
+  ImageEncoding encoding;  //!< Image color encoding
+
+  // Video frame dedicated fields
+  std::optional<uint64_t> pts;   //!< packet time stamp
+  std::optional<uint8_t> flags;  //!< flag representing whether this is the key frame
 
   /**
    * @brief Check the specified image is valid.

src/accelerated_image_processor_common/include/accelerated_image_processor_common/helper.hpp

@@ -16,6 +16,7 @@
 
 #include <cstdio>
 #include <iostream>
+#include <string>
 
 namespace accelerated_image_processor::common
 {
@@ -67,4 +68,23 @@ namespace accelerated_image_processor::common
       exit(1);                                                                            \
     }                                                                                     \
   }
+
+/**
+ * @brief Macro to check for errors and print a message if the VPI status is not
+ * VPI_SUCCESS
+ *
+ * @param status The VPI status.
+ */
+#define CHECK_VPI(call)                                                                \
+  {                                                                                    \
+    VPIStatus _e = (call);                                                             \
+    if (_e != VPI_SUCCESS) {                                                           \
+      char msg_buf[VPI_MAX_STATUS_MESSAGE_LENGTH];                                     \
+      vpiGetLastStatusMessage(msg_buf, VPI_MAX_STATUS_MESSAGE_LENGTH);                 \
+      std::cerr << "VPI failure: \'#" << _e << "\' at " << __FILE__ << ":" << __LINE__ \
+                << ", (reason: " << std::string(msg_buf) << ")" << std::endl;          \
+      exit(1);                                                                         \
+    }                                                                                  \
+  }
+
 }  // namespace accelerated_image_processor::common

src/accelerated_image_processor_common/include/accelerated_image_processor_common/processor.hpp

@@ -97,7 +97,7 @@ class BaseProcessor
    * @param image The input image.
    * @return The processed image if the process is successful, otherwise std::nullopt.
    */
-  std::optional<common::Image> process(const Image & image)
+  virtual std::optional<common::Image> process(const Image & image)
   {
     if (!is_ready()) {
       // TODO(ktro2828): Update to return a type that describes if the process success or not
@@ -113,6 +113,17 @@ class BaseProcessor
       return std::nullopt;
     }
 
+    postprocess(processed);
+
+    return processed;
+  };
+
+  /**
+   * @brief Execute post process
+   * @param processed The image to be post-processed
+   */
+  void postprocess(Image & processed)
+  {
     std::visit(
       [&processed](auto & f) {
         using T = std::decay_t<decltype(f)>;
@@ -125,9 +136,7 @@ class BaseProcessor
         }
       },
       storage_);
-
-    return processed;
-  };
+  }
 
   /**
    * @brief Check the processor is ready to run processing.

src/accelerated_image_processor_compression/CMakeLists.txt

@@ -45,6 +45,18 @@ if(NOT JETSON_FOUND
   message(FATAL_ERROR "No JPEG encoder found")
 endif()
 
+# --- CUDA VPI available? ---
+find_package(VPI)
+if(${VPI_FOUND})
+  message("VPI found")
+endif()
+
+# --- Jetson multimedia API available? ---
+find_package(NVMMAPI)
+if(${NVMMAPI_FOUND})
+  message("Jetson multimedia API found")
+endif()
+
 add_library(${PROJECT_NAME} SHARED src/builder.cpp src/jpeg_compressor/cpu.cpp
                                    src/jpeg_compressor/nvjpeg.cpp)
 
@@ -76,12 +88,22 @@ if(JETSON_FOUND)
                              PRIVATE /usr/src/jetson_multimedia_api/include)
   add_library(
     ${PROJECT_NAME}_jetson SHARED
+    # JPEG compression
     src/jpeg_compressor/jetson.cpp
     /usr/src/jetson_multimedia_api/samples/common/classes/NvBuffer.cpp
     /usr/src/jetson_multimedia_api/samples/common/classes/NvElement.cpp
     /usr/src/jetson_multimedia_api/samples/common/classes/NvElementProfiler.cpp
     /usr/src/jetson_multimedia_api/samples/common/classes/NvJpegEncoder.cpp
-    /usr/src/jetson_multimedia_api/samples/common/classes/NvLogging.cpp)
+    /usr/src/jetson_multimedia_api/samples/common/classes/NvLogging.cpp
+    # video compression
+    src/video_compressor/jetson.cpp
+    src/video_compressor/jetson_h264.cpp
+    src/video_compressor/jetson_h265.cpp
+    src/video_compressor/jetson_av1.cpp
+    /usr/src/jetson_multimedia_api/samples/common/classes/NvVideoEncoder.cpp
+    /usr/src/jetson_multimedia_api/samples/common/classes/NvV4l2Element.cpp
+    /usr/src/jetson_multimedia_api/samples/common/classes/NvV4l2ElementPlane.cpp
+    /usr/src/jetson_multimedia_api/samples/common/classes/NvBufSurface.cpp)
   target_compile_definitions(${PROJECT_NAME}_jetson PRIVATE JETSON_AVAILABLE)
 
   ament_target_dependencies(${PROJECT_NAME}_jetson
@@ -100,12 +122,14 @@ if(JETSON_FOUND)
   target_link_libraries(
     ${PROJECT_NAME}_jetson
     ${JETSON_NVJPEG_LIB}
+    ${NVMMAPI_LIBRARIES}
     $<$<TARGET_EXISTS:CUDA::cudart>:CUDA::cudart>
     $<$<TARGET_EXISTS:CUDA::nppc>:CUDA::nppc>
     $<$<TARGET_EXISTS:CUDA::nppicc>:CUDA::nppicc>
     $<$<TARGET_EXISTS:CUDA::nppidei>:CUDA::nppidei>
     $<$<TARGET_EXISTS:CUDA::nppig>:CUDA::nppig>
-    $<$<TARGET_EXISTS:CUDA::nppisu>:CUDA::nppisu>)
+    $<$<TARGET_EXISTS:CUDA::nppisu>:CUDA::nppisu>
+    $<$<TARGET_EXISTS:vpi>:vpi>)
 
   set(JETSON_LIB_DIRS
       "/usr/lib/aarch64-linux-gnu/nvidia;/usr/lib/aarch64-linux-gnu/tegra")
@@ -132,11 +156,36 @@ install(DIRECTORY include/${PROJECT_NAME} DESTINATION include)
 if(BUILD_TESTING)
   set(test_files test/builder.cpp test/cpu_jpeg_compressor.cpp
                  test/jetson_jpeg_compressor.cpp test/nv_jpeg_compressor.cpp)
+
   foreach(test_file IN LISTS test_files)
     get_filename_component(test_file_name ${test_file} NAME)
     ament_auto_add_gtest(${test_file_name}_${PROJECT_NAME} ${test_file})
     target_link_libraries(${test_file_name}_${PROJECT_NAME} ${PROJECT_NAME})
   endforeach()
+
+  # Treat some tests separately because they contains many test cases and cause
+  # colcon test timeout if the tests are generated in the above way
+  set(long_test_files
+      test/jetson_video_compressor_h264.cpp
+      test/jetson_video_compressor_h265.cpp
+      test/jetson_video_compressor_av1.cpp)
+
+  find_package(GTest)
+  enable_testing()
+  include(GoogleTest) # enable the GoogleTest integration
+
+  foreach(test_file IN LISTS long_test_files)
+    get_filename_component(test_file_name ${test_file} NAME)
+
+    set(LONG_TEST_EXEC ${test_file_name}_${PROJECT_NAME})
+    add_executable(${LONG_TEST_EXEC} ${test_file})
+    target_include_directories(${LONG_TEST_EXEC}
+                               PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+    target_link_libraries(${LONG_TEST_EXEC} ${PROJECT_NAME} GTest::GTest
+                          GTest::Main)
+    # divide a single test into separated cases
+    gtest_discover_tests(${LONG_TEST_EXEC})
+  endforeach()
 endif()
 
 ament_export_include_directories(include)

src/accelerated_image_processor_compression/README.md

@@ -5,11 +5,14 @@ It also includes support for hardware acceleration on NVIDIA Jetson devices usin
 
 ## Compressor Supports
 
-| Compressor             | Format | Backend                                                                             | Device |
-| ---------------------- | ------ | ----------------------------------------------------------------------------------- | ------ |
-| `JetsonJPEGCompressor` | `JPEG` | [jetsonJPEG](https://docs.nvidia.com/jetson/l4t-multimedia/classNvJPEGEncoder.html) | Jetson |
-| `NvJPEGCompressor`     | `JPEG` | [nvJPEG](https://developer.nvidia.com/nvjpeg)                                       | GPU    |
-| `CpuJPEGCompressor`    | `JPEG` | [TurboJPEG](https://github.com/libjpeg-turbo/libjpeg-turbo)                         | CPU    |
+| Compressor             | Format | Backend                                                                                  | Device |
+| ---------------------- | ------ | ---------------------------------------------------------------------------------------- | ------ |
+| `JetsonJPEGCompressor` | `JPEG` | [jetsonJPEG](https://docs.nvidia.com/jetson/l4t-multimedia/classNvJPEGEncoder.html)      | Jetson |
+| `NvJPEGCompressor`     | `JPEG` | [nvJPEG](https://developer.nvidia.com/nvjpeg)                                            | GPU    |
+| `CpuJPEGCompressor`    | `JPEG` | [TurboJPEG](https://github.com/libjpeg-turbo/libjpeg-turbo)                              | CPU    |
+| `JetsonH264Compressor` | `H264` | [NvVideoEncoder](https://docs.nvidia.com/jetson/l4t-multimedia/classNvVideoEncoder.html) | Jetson |
+| `JetsonH265Compressor` | `H265` | [NvVideoEncoder](https://docs.nvidia.com/jetson/l4t-multimedia/classNvVideoEncoder.html) | Jetson |
+| `JetsonAV1Compressor`  | `AV1`  | [NvVideoEncoder](https://docs.nvidia.com/jetson/l4t-multimedia/classNvVideoEncoder.html) | Jetson |
 
 ## Example Usage in ROS 2
 

src/accelerated_image_processor_compression/cmake/FindNVMMAPI.cmake

@@ -0,0 +1,109 @@
+# ##############################################################################
+#
+# Original Copyright
+#
+# ##############################################################################
+# Copyright (c) 2017-2022, NVIDIA CORPORATION. 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 NVIDIA CORPORATION 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 ``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.
+
+# - Try to find the NVIDIA Tegra Multimedia API
+# Once done this will define
+#  NVMMAPI_FOUND - System has NVMMAPI
+#  NVMMAPI_INCLUDE_DIRS - The NVMMAPI include directories
+#  NVMMAPI_LIBRARIES - The libraries needed to use the NVMMAPI
+#  NVMMAPI_DEFINITIONS - Compiler switches required for using NVMMAPI
+# ##############################################################################
+#
+# Modifications Copyright
+#
+# ##############################################################################
+# Copyright 2026 TIER IV, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+# ##############################################################################
+
+find_package(PkgConfig)
+
+find_path(NVMMAPI_INCLUDE_DIR NvVideoEncoder.h
+          HINTS ${SYS_ROOT}/usr/src/jetson_multimedia_api/include)
+
+find_library(
+  NVMMAPI_NVV4L2_LIBRARY
+  NAMES nvv4l2
+  HINTS /usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}/tegra)
+find_library(
+  NVMMAPI_NVMEDIA_LIBRARY
+  NAMES nvmedia
+  HINTS /usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}/tegra)
+find_library(
+  NVMMAPI_V4L2_NVVIDEOCODEC_LIBRARY
+  NAMES v4l2_nvvideocodec
+  HINTS /usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}/tegra)
+find_library(
+  NVMMAPI_NVBUFSURFACE_LIBRARY
+  NAMES nvbufsurface
+  HINTS /usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}/tegra)
+find_library(
+  NVMMAPI_NVBUFSURF_TRANSFORM_LIBRARY
+  NAMES nvbufsurftransform
+  HINTS /usr/lib/${CMAKE_LIBRARY_ARCHITECTURE}/tegra)
+
+set(NVMMAPI_LIBRARIES
+    ${NVMMAPI_NVV4L2_LIBRARY} ${NVMMAPI_NVMEDIA_LIBRARY}
+    ${NVMMAPI_V4L2_NVVIDEOCODEC_LIBRARY} ${NVMMAPI_NVBUFSURFACE_LIBRARY}
+    ${NVMMAPI_NVBUFSURF_TRANSFORM_LIBRARY})
+
+set(NVMMAPI_INCLUDE_DIRS ${NVMMAPI_INCLUDE_DIR})
+set(NVMMAPI_DEFINITIONS -DNVMMAPI_SUPPORTED)
+
+include(FindPackageHandleStandardArgs)
+# handle the QUIETLY and REQUIRED arguments and set ARGUS_FOUND to TRUE if all
+# listed variables are TRUE
+find_package_handle_standard_args(
+  NVMMAPI
+  DEFAULT_MSG
+  NVMMAPI_INCLUDE_DIR
+  NVMMAPI_NVV4L2_LIBRARY
+  NVMMAPI_NVMEDIA_LIBRARY
+  NVMMAPI_V4L2_NVVIDEOCODEC_LIBRARY
+  NVMMAPI_NVBUFSURFACE_LIBRARY
+  NVMMAPI_NVBUFSURF_TRANSFORM_LIBRARY)
+
+# mark_as_advanced(NVMMAPI_INCLUDE_DIR NVMMAPI_LIBRARY)
+mark_as_advanced(
+  NVMMAPI_INCLUDE_DIR NVMMAPI_NVV4L2_LIBRARY NVMMAPI_NVMEDIA_LIBRARY
+  NVMMAPI_V4L2_NVVIDEOCODEC_LIBRARY NVMMAPI_NVBUFSURFACE_LIBRARY
+  NVMMAPI_NVBUFSURF_TRANSFORM_LIBRARY)

src/accelerated_image_processor_compression/include/accelerated_image_processor_compression/builder.hpp

@@ -15,24 +15,14 @@
 #pragma once
 
 #include <accelerated_image_processor_common/processor.hpp>
+#include <accelerated_image_processor_compression/compressor.hpp>
 
 #include <memory>
 #include <string>
 #include <type_traits>
 
 namespace accelerated_image_processor::compression
 {
-/**
- * @brief Type alias for compressor processor.
- * @note This might be a specific implementation of a compressor processor in the future.
- */
-using Compressor = common::BaseProcessor;
-
-/**
- * @brief Compression type enum
- */
-enum class CompressionType : uint8_t { JPEG, VIDEO };
-
 /**
  * @brief Convert a string to a compression type
  * @param str String to convert expected strings ["JPEG", "VIDEO"]
@@ -85,7 +75,7 @@ template <
 inline std::unique_ptr<Compressor> create_compressor(const std::string & type, F fn)
 {
   return create_compressor(to_compression_type(type), fn);
-};
+}
 
 /**
  * @brief Create a compressor processor with a member function for the postprocess.