refactor: add compression package

[ktro2828]

PR Type

• Improvement

Related Links

TIER IV INTERNAL LINK

Description

This pull request introduces a new package, accelerated_image_processor_compression, which provides a flexible and hardware-accelerated image compression library, primarily targeting JPEG compression with support for various backends (Jetson, NVJPEG, TurboJPEG/CPU). The package is designed for ROS 2 integration and includes CMake configuration for dependency detection and platform-specific builds.

The most important changes are:

Core Library Implementation:

• Added builder.hpp and jpeg_compressor.hpp headers, defining the compressor interface, compressor creation utilities, and backend selection logic, along with backend-specific compressor classes (JetsonJPEGCompressor, NvJPEGCompressor, CpuJPEGCompressor). [1] [2]

CMake and Build System:

• Introduced a comprehensive CMakeLists.txt to detect platform capabilities (Jetson, NVJPEG, TurboJPEG), configure build options, and handle conditional compilation and linking for different hardware backends.
• Added custom CMake modules (FindNVJPEG.cmake, FindLibJpegTurbo.cmake, LibFindMacros.cmake) to robustly detect and configure third-party dependencies required for hardware-accelerated JPEG compression. [1] [2] [3]

Documentation and Packaging:

• Created a README.md detailing the supported compression backends, usage examples in ROS 2, and integration instructions.
• Added a package.xml manifest for ROS 2, declaring dependencies, maintainers, and licensing information.

Remarks

The following demonstrates how to use the compressor on ROS 2 codebase:

#include <accelerated_image_processor_common/datatype.hpp>
#include <accelerated_image_processor_compression/builder.hpp>

#include <rclcpp/rclcpp.hpp>

using namespace accelerated_image_processor;

class SomeNode final : public rclcpp::Node
{
public:
  explicit SomeNode(const rclcpp::NodeOptions & options) : Node("some_node", options)
  {
    compressor_ = compression::create_compressor<SomeNode, &SomeNode::publish>("jpeg", this);

    // Update parameters of the compressor
    for (auto & [name, value] : compressor_->parameters()) {
      std::visit([&](auto & v) {
        using T = std::decay_t<decltype(v)>;
        v = this->get_parameter_or<T>(name, v);
      }, value);
    }

    // Create a subscription and publisher
    subscription_ = this->create_subscription<sensor_msgs::msg::Image>(
      "~/input/image", 10, [this](const sensor_msgs::msg::Image::ConstSharedPtr msg) { this->callback(msg); });
    publisher_ = this->create_publisher<sensor_msgs::msg::CompressedImage>("~/output/image", 10);
  }

private:
  void callback(const sensor_msgs::msg::Image::ConstSharedPtr msg)
  {
    common::Image image;
    // Convert the message to image...
    compressor_->process(image);
  }

  void publish(const common::Image & image)
  {
    sensor_msgs::msg::CompressedImage msg;
    // Convert the image to message...
    publisher_->publish(msg);
  }

  std::unique_ptr<compression::Compressor> compressor_; //!< Compressor

  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr subscription_; //!< Subscription
  rclcpp::Publisher<sensor_msgs::msg::CompressedImage>::SharedPtr publisher_; //!< Publisher
};

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

I confirmed unit testings passed with all of Jetson, NvJPEG, TurboJPEG backends:

Unit testings summary

nvidia@ANVIL:~/workspace/accelerated_image_processor$ colcon test --packages-select accelerated_image_processor_compression --event-handlers console_cohesion+ 
Starting >>> accelerated_image_processor_compression
--- output: accelerated_image_processor_compression                   
UpdateCTestConfiguration  from :/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/CTestConfiguration.ini
Parse Config file:/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/CTestConfiguration.ini
   Site: ANVIL
   Build name: (empty)
 Add coverage exclude regular expressions.
Create new tag: 20251226-0427 - Experimental
UpdateCTestConfiguration  from :/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/CTestConfiguration.ini
Parse Config file:/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/CTestConfiguration.ini
Test project /home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression
Constructing a list of tests
Done constructing a list of tests
Updating test list for fixtures
Added 0 tests to meet fixture requirements
Checking test dependency graph...
Checking test dependency graph end
test 1
    Start 1: builder.cpp_accelerated_image_processor_compression

1: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/builder.cpp_accelerated_image_processor_compression.gtest.xml" "--package-name" "accelerated_image_processor_compression" "--output-file" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/ament_cmake_gtest/builder.cpp_accelerated_image_processor_compression.txt" "--command" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/builder.cpp_accelerated_image_processor_compression" "--gtest_output=xml:/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/builder.cpp_accelerated_image_processor_compression.gtest.xml"
1: Working Directory: /home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression
1: Test timeout computed to be: 60
1: -- run_test.py: invoking following command in '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression':
1:  - /home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/builder.cpp_accelerated_image_processor_compression --gtest_output=xml:/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/builder.cpp_accelerated_image_processor_compression.gtest.xml
1: Running main() from /opt/ros/humble/src/gtest_vendor/src/gtest_main.cc
1: [==========] Running 6 tests from 1 test suite.
1: [----------] Global test environment set-up.
1: [----------] 6 tests from TestCompressorBuilder
1: [ RUN      ] TestCompressorBuilder.CreateJPEGCompressor1
1: [       OK ] TestCompressorBuilder.CreateJPEGCompressor1 (195 ms)
1: [ RUN      ] TestCompressorBuilder.CreateJPEGCompressor2
1: [       OK ] TestCompressorBuilder.CreateJPEGCompressor2 (0 ms)
1: [ RUN      ] TestCompressorBuilder.CreateJPEGCompressor3
1: [       OK ] TestCompressorBuilder.CreateJPEGCompressor3 (0 ms)
1: [ RUN      ] TestCompressorBuilder.CreateJPEGCompressor4
1: [       OK ] TestCompressorBuilder.CreateJPEGCompressor4 (0 ms)
1: [ RUN      ] TestCompressorBuilder.CreateJPEGCompressor5
1: [       OK ] TestCompressorBuilder.CreateJPEGCompressor5 (0 ms)
1: [ RUN      ] TestCompressorBuilder.CreateJPEGCompressor6
1: [       OK ] TestCompressorBuilder.CreateJPEGCompressor6 (0 ms)
1: [----------] 6 tests from TestCompressorBuilder (195 ms total)
1: 
1: [----------] Global test environment tear-down
1: [==========] 6 tests from 1 test suite ran. (195 ms total)
1: [  PASSED  ] 6 tests.
1: -- run_test.py: return code 0
1: -- run_test.py: inject classname prefix into gtest result file '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/builder.cpp_accelerated_image_processor_compression.gtest.xml'
1: -- run_test.py: verify result file '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/builder.cpp_accelerated_image_processor_compression.gtest.xml'
1/4 Test #1: builder.cpp_accelerated_image_processor_compression ..................   Passed    0.39 sec
test 2
    Start 2: cpu_jpeg_compressor.cpp_accelerated_image_processor_compression

2: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/cpu_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml" "--package-name" "accelerated_image_processor_compression" "--output-file" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/ament_cmake_gtest/cpu_jpeg_compressor.cpp_accelerated_image_processor_compression.txt" "--command" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/cpu_jpeg_compressor.cpp_accelerated_image_processor_compression" "--gtest_output=xml:/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/cpu_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml"
2: Working Directory: /home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression
2: Test timeout computed to be: 60
2: -- run_test.py: invoking following command in '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression':
2:  - /home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/cpu_jpeg_compressor.cpp_accelerated_image_processor_compression --gtest_output=xml:/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/cpu_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml
2: [==========] Running 3 tests from 1 test suite.
2: [----------] Global test environment set-up.
2: [----------] 3 tests from TestJPEGCompressor
2: [ RUN      ] TestJPEGCompressor.CpuCompressionDefault
2: [       OK ] TestJPEGCompressor.CpuCompressionDefault (20 ms)
2: [ RUN      ] TestJPEGCompressor.CpuCompressionWithLowQuality
2: [       OK ] TestJPEGCompressor.CpuCompressionWithLowQuality (17 ms)
2: [ RUN      ] TestJPEGCompressor.CpuCompressionWithHighQuality
2: [       OK ] TestJPEGCompressor.CpuCompressionWithHighQuality (18 ms)
2: [----------] 3 tests from TestJPEGCompressor (55 ms total)
2: 
2: [----------] Global test environment tear-down
2: [==========] 3 tests from 1 test suite ran. (56 ms total)
2: [  PASSED  ] 3 tests.
2: -- run_test.py: return code 0
2: -- run_test.py: inject classname prefix into gtest result file '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/cpu_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml'
2: -- run_test.py: verify result file '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/cpu_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml'
2/4 Test #2: cpu_jpeg_compressor.cpp_accelerated_image_processor_compression ......   Passed    0.23 sec
test 3
    Start 3: jetson_jpeg_compressor.cpp_accelerated_image_processor_compression

3: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/jetson_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml" "--package-name" "accelerated_image_processor_compression" "--output-file" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/ament_cmake_gtest/jetson_jpeg_compressor.cpp_accelerated_image_processor_compression.txt" "--command" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/jetson_jpeg_compressor.cpp_accelerated_image_processor_compression" "--gtest_output=xml:/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/jetson_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml"
3: Working Directory: /home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression
3: Test timeout computed to be: 60
3: -- run_test.py: invoking following command in '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression':
3:  - /home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/jetson_jpeg_compressor.cpp_accelerated_image_processor_compression --gtest_output=xml:/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/jetson_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml
3: [==========] Running 3 tests from 1 test suite.
3: [----------] Global test environment set-up.
3: [----------] 3 tests from TestJPEGCompressor
3: [ RUN      ] TestJPEGCompressor.JetsonCompressionDefault
3: NvMMLiteBlockCreate : Block : BlockType = 1 
3: [       OK ] TestJPEGCompressor.JetsonCompressionDefault (111 ms)
3: [ RUN      ] TestJPEGCompressor.JetsonCompressionWithLowQuality
3: NvMMLiteBlockCreate : Block : BlockType = 1 
3: [       OK ] TestJPEGCompressor.JetsonCompressionWithLowQuality (35 ms)
3: [ RUN      ] TestJPEGCompressor.JetsonCompressionWithHighQuality
3: NvMMLiteBlockCreate : Block : BlockType = 1 
3: [       OK ] TestJPEGCompressor.JetsonCompressionWithHighQuality (30 ms)
3: [----------] 3 tests from TestJPEGCompressor (176 ms total)
3: 
3: [----------] Global test environment tear-down
3: [==========] 3 tests from 1 test suite ran. (176 ms total)
3: [  PASSED  ] 3 tests.
3: -- run_test.py: return code 0
3: -- run_test.py: inject classname prefix into gtest result file '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/jetson_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml'
3: -- run_test.py: verify result file '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/jetson_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml'
3/4 Test #3: jetson_jpeg_compressor.cpp_accelerated_image_processor_compression ...   Passed    0.37 sec
test 4
    Start 4: nv_jpeg_compressor.cpp_accelerated_image_processor_compression

4: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/nv_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml" "--package-name" "accelerated_image_processor_compression" "--output-file" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/ament_cmake_gtest/nv_jpeg_compressor.cpp_accelerated_image_processor_compression.txt" "--command" "/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/nv_jpeg_compressor.cpp_accelerated_image_processor_compression" "--gtest_output=xml:/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/nv_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml"
4: Working Directory: /home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression
4: Test timeout computed to be: 60
4: -- run_test.py: invoking following command in '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression':
4:  - /home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/nv_jpeg_compressor.cpp_accelerated_image_processor_compression --gtest_output=xml:/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/nv_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml
4: [==========] Running 3 tests from 1 test suite.
4: [----------] Global test environment set-up.
4: [----------] 3 tests from TestJPEGCompressor
4: [ RUN      ] TestJPEGCompressor.NvJPEGCompressionDefault
4: [       OK ] TestJPEGCompressor.NvJPEGCompressionDefault (100 ms)
4: [ RUN      ] TestJPEGCompressor.NvJPEGCompressionWithLowQuality
4: [       OK ] TestJPEGCompressor.NvJPEGCompressionWithLowQuality (26 ms)
4: [ RUN      ] TestJPEGCompressor.NvJPEGCompressionWithHighQuality
4: [       OK ] TestJPEGCompressor.NvJPEGCompressionWithHighQuality (23 ms)
4: [----------] 3 tests from TestJPEGCompressor (150 ms total)
4: 
4: [----------] Global test environment tear-down
4: [==========] 3 tests from 1 test suite ran. (150 ms total)
4: [  PASSED  ] 3 tests.
4: -- run_test.py: return code 0
4: -- run_test.py: inject classname prefix into gtest result file '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/nv_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml'
4: -- run_test.py: verify result file '/home/nvidia/workspace/accelerated_image_processor/build/accelerated_image_processor_compression/test_results/accelerated_image_processor_compression/nv_jpeg_compressor.cpp_accelerated_image_processor_compression.gtest.xml'
4/4 Test #4: nv_jpeg_compressor.cpp_accelerated_image_processor_compression .......   Passed    0.34 sec

100% tests passed, 0 tests failed out of 4

Label Time Summary:
gtest    =   1.33 sec*proc (4 tests)

Total Test time (real) =   1.34 sec
---
Finished <<< accelerated_image_processor_compression [1.64s]

Summary: 1 package finished [2.20s]

[Copilot]

Pull request overview

This PR introduces a new ROS 2 package accelerated_image_processor_compression that provides hardware-accelerated image compression capabilities, primarily targeting JPEG compression. The package supports multiple backends (Jetson, NVJPEG, TurboJPEG/CPU) with automatic detection and selection based on platform capabilities.

Key changes:

• Implements a flexible compression library with support for Jetson, NVJPEG, and CPU (TurboJPEG) backends
• Provides CMake infrastructure for conditional compilation based on available hardware acceleration libraries
• Includes comprehensive unit tests for each backend implementation

Reviewed changes

Copilot reviewed 17 out of 17 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
include/accelerated_image_processor_compression/builder.hpp	Defines compressor creation API and type conversions
include/accelerated_image_processor_compression/jpeg_compressor.hpp	Declares JPEG compressor base class and backend enum
src/builder.cpp	Implements compressor factory functions with backend selection logic
src/jpeg_compressor/cpu.cpp	Implements CPU-based JPEG compression using TurboJPEG
src/jpeg_compressor/nvjpeg.cpp	Implements GPU-based JPEG compression using NVJPEG
src/jpeg_compressor/jetson.cpp	Implements Jetson-specific JPEG compression
test/test_utility.hpp	Provides test fixture for JPEG compressor tests
test/builder.cpp	Tests compressor factory functions
test/cpu_jpeg_compressor.cpp	Tests CPU JPEG compressor implementation
test/nv_jpeg_compressor.cpp	Tests NVJPEG compressor implementation
test/jetson_jpeg_compressor.cpp	Tests Jetson JPEG compressor implementation
CMakeLists.txt	Configures build system with conditional backend compilation
cmake/FindNVJPEG.cmake	CMake module for detecting NVJPEG library
cmake/FindLibJpegTurbo.cmake	CMake module for detecting TurboJPEG library
cmake/LibFindMacros.cmake	Helper macros for library detection
package.xml	ROS 2 package manifest
README.md	Documentation for package usage and supported backends

---

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[Copilot]

Using raw new without corresponding exception safety. Consider using std::vector<unsigned char> or std::unique_ptr<unsigned char[]> to ensure automatic cleanup even if an exception occurs before the delete statement.

[manato]

@ktro2828

Thank you very much for the PR! It looks more than good to me! (Especially, adding tests is highly appreciated)
I left small comments regarding ifdef scope. I guess they will rarely cause problems, but it's just for completeness.

[manato]

@ktro2828
Awesome! LGTM!