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Remove boost/endian #557

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493b01e
remove boost/endian
InvincibleRMC Nov 23, 2025
66f62f8
Update cv_mat_sensor_msgs_image_type_adapter.hpp
InvincibleRMC Nov 23, 2025
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21 changes: 2 additions & 19 deletions cv_bridge/include/cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include "opencv2/core/mat.hpp"

#include "rclcpp/type_adapter.hpp"
#include "rcpputils/endian.hpp"
#include "sensor_msgs/msg/image.hpp"

#include "cv_bridge/visibility_control.h"
Expand All @@ -30,24 +31,6 @@

namespace cv_bridge
{
namespace detail
{
// TODO(audrow): Replace with std::endian when C++ 20 is available
// https://en.cppreference.com/w/cpp/types/endian
enum class endian
{
#ifdef _WIN32
little = 0,
big = 1,
native = little
#else
little = __ORDER_LITTLE_ENDIAN__,
big = __ORDER_BIG_ENDIAN__,
native = __BYTE_ORDER__
#endif
};

} // namespace detail


/// A potentially owning, potentially non-owning, container of a cv::Mat and ROS header.
Expand Down Expand Up @@ -85,7 +68,7 @@ enum class endian
*/
class ROSCvMatContainer
{
static constexpr bool is_bigendian_system = detail::endian::native == detail::endian::big;
static constexpr bool is_bigendian_system = rcpputils::endian::native == rcpputils::endian::big;

public:
using SensorMsgsImageStorageType = std::variant<
Expand Down
1 change: 0 additions & 1 deletion cv_bridge/package.xml
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Expand Up @@ -19,7 +19,6 @@
<buildtool_depend>ament_cmake_ros</buildtool_depend>
<buildtool_depend>python_cmake_module</buildtool_depend>

<build_depend>libboost-dev</build_depend>
<build_depend>libboost-python-dev</build_depend>

<depend>libopencv-dev</depend>
Expand Down
1 change: 0 additions & 1 deletion cv_bridge/src/cv_bridge.cpp
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Expand Up @@ -36,7 +36,6 @@

#include <cv_bridge/cv_bridge.hpp>
#include <cv_bridge/rgb_colors.hpp>
#include <boost/endian/conversion.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <sensor_msgs/image_encodings.hpp>
Expand Down
30 changes: 21 additions & 9 deletions cv_bridge/test/test_endian.cpp
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Original file line number Diff line number Diff line change
@@ -1,12 +1,10 @@
#include <boost/endian/conversion.hpp>
#include <cv_bridge/cv_bridge.hpp>
#include <gtest/gtest.h>
#include <memory>
#include <rcpputils/endian.hpp>

TEST(CvBridgeTest, endianness)
{
using namespace boost::endian;

// Create an image of the type opposite to the platform
sensor_msgs::msg::Image msg;
msg.height = 1;
Expand All @@ -15,17 +13,31 @@ TEST(CvBridgeTest, endianness)
msg.step = 8;

msg.data.resize(msg.step);
int32_t * data = reinterpret_cast<int32_t *>(&msg.data[0]);
uint8_t * raw = msg.data.data();

// Write 1 and 2 in order, but with an endianness opposite to the platform
if (order::native == order::little) {
if (rcpputils::endian::native == rcpputils::endian::little) {
msg.is_bigendian = true;
*(data++) = native_to_big(static_cast<int32_t>(1));
*data = native_to_big(static_cast<int32_t>(2));
raw[0] = 0x00;
raw[1] = 0x00;
raw[2] = 0x00;
raw[3] = 0x01;

raw[4] = 0x00;
raw[5] = 0x00;
raw[6] = 0x00;
raw[7] = 0x02;
} else {
msg.is_bigendian = false;
*(data++) = native_to_little(static_cast<int32_t>(1));
*data = native_to_little(static_cast<int32_t>(2));
raw[0] = 0x01;
raw[1] = 0x00;
raw[2] = 0x00;
raw[3] = 0x00;

raw[4] = 0x02;
raw[5] = 0x00;
raw[6] = 0x00;
raw[7] = 0x00;
}

// Make sure the values are still the same
Expand Down