diff between 629303...0c3c7cb65

gistfile1.txt

diff --git a/.travis.yml b/.travis.yml
index ff3aba5..5c8309d 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,8 +1,6 @@
-language:
-  - cpp
-  - python
-python:
-  - "2.7"
+sudo: required
+dist: trusty
+language: generic
 compiler:
   - gcc
 
@@ -12,18 +10,18 @@ branches:
     - develop
 
 install:
-  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
+  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty 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
-  - sudo apt-get install python-catkin-pkg python-rosdep ros-hydro-catkin -qq
+  - sudo apt-get install python-catkin-pkg python-rosdep ros-indigo-catkin -qq
   - sudo rosdep init
   - rosdep update 
   - mkdir -p /tmp/ws/src
   - ln -s `pwd` /tmp/ws/src/package
   - cd /tmp/ws
-  - rosdep install --from-paths src --ignore-src --rosdistro hydro -y
+  - rosdep install --from-paths src --ignore-src --rosdistro indigo -y
 
 script:
-  - source /opt/ros/hydro/setup.bash
+  - source /opt/ros/indigo/setup.bash
   - catkin_make
   - catkin_make install
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 715fa49..4e763df 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,27 @@
 Changelog for package usb_cam
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.6 (2017-06-15)
+------------------
+* .travis.yml: udpate to trusty
+* add AV\_ prefix to PIX_FMT\_* for X,Y (`#71 <https://github.com/ros-drivers/usb_cam/issues/71>`_)
+* Contributors: Kei Okada
+
+0.3.5 (2017-06-14)
+------------------
+* add ROS Orphaned Package Maintainers to maintainer tag (`#69 <https://github.com/ros-drivers/usb_cam/issues/69>`_)
+* support for Kinetic / Ubuntu 16.04 (`#58 <https://github.com/ros-drivers/usb_cam/issues/58>`_)
+  * replace use of deprecated functions in newer ffmpeg/libav versions
+    ffmpeg/libav 55.x (used in ROS Kinetic) deprecated the avcodec_alloc_frame.
+* Add grey scale pixel format. (`#45 <https://github.com/ros-drivers/usb_cam/issues/45>`_)
+* add start/stop capture services (`#44 <https://github.com/ros-drivers/usb_cam/issues/44>`_ )
+  * better management of start/stop
+  * up package.xml
+  * add capture service
+
+* fix bug for byte count in a pixel (3 bytes not 24 bytes) (`#40 <https://github.com/ros-drivers/usb_cam/issues/40>`_ )
+* Contributors: Daniel Seifert, Eric Zavesky, Kei Okada, Ludovico Russo, Russell Toris, honeytrap15
+
 0.3.4 (2015-08-18)
 ------------------
 * Installs launch files
@@ -323,4 +344,4 @@ Changelog for package usb_cam
 * Working on the listerner that will write to HDFFormat.
 * Creating a listerner that can write to sofiehdfformat files.
 * Initial commit
-* Contributors: Adrian Cooke, Russell Toris, ¨Adrian
+* Contributors: Adrian Cooke, Russell Toris, Adrian
diff --git a/package.xml b/package.xml
index 6c6b3c0..261347a 100644
--- a/package.xml
+++ b/package.xml
@@ -1,9 +1,10 @@
 <package>
   <name>usb_cam</name>
-  <version>0.3.4</version>
+  <version>0.3.6</version>
   <description>A ROS Driver for V4L USB Cameras</description>
 
   <maintainer email="[email protected]">Russell Toris</maintainer>
+  <maintainer email="[email protected]">ROS Orphaned Package Maintainers</maintainer>
   <author email="[email protected]">Benjamin Pitzer</author>
 
   <license>BSD</license>
diff --git a/src/usb_cam.cpp b/src/usb_cam.cpp
index bc49848..f9eeea0 100644
--- a/src/usb_cam.cpp
+++ b/src/usb_cam.cpp
@@ -375,22 +375,27 @@ int UsbCam::init_mjpeg_decoder(int image_width, int image_height)
   }
 
   avcodec_context_ = avcodec_alloc_context3(avcodec_);
+#if LIBAVCODEC_VERSION_MAJOR < 55
   avframe_camera_ = avcodec_alloc_frame();
   avframe_rgb_ = avcodec_alloc_frame();
+#else
+  avframe_camera_ = av_frame_alloc();
+  avframe_rgb_ = av_frame_alloc();
+#endif
 
-  avpicture_alloc((AVPicture *)avframe_rgb_, PIX_FMT_RGB24, image_width, image_height);
+  avpicture_alloc((AVPicture *)avframe_rgb_, AV_PIX_FMT_RGB24, image_width, image_height);
 
   avcodec_context_->codec_id = AV_CODEC_ID_MJPEG;
   avcodec_context_->width = image_width;
   avcodec_context_->height = image_height;
 
 #if LIBAVCODEC_VERSION_MAJOR > 52
-  avcodec_context_->pix_fmt = PIX_FMT_YUV422P;
+  avcodec_context_->pix_fmt = AV_PIX_FMT_YUV422P;
   avcodec_context_->codec_type = AVMEDIA_TYPE_VIDEO;
 #endif
 
-  avframe_camera_size_ = avpicture_get_size(PIX_FMT_YUV422P, image_width, image_height);
-  avframe_rgb_size_ = avpicture_get_size(PIX_FMT_RGB24, image_width, image_height);
+  avframe_camera_size_ = avpicture_get_size(AV_PIX_FMT_YUV422P, image_width, image_height);
+  avframe_rgb_size_ = avpicture_get_size(AV_PIX_FMT_RGB24, image_width, image_height);
 
   /* open it */
   if (avcodec_open2(avcodec_context_, avcodec_, &avoptions_) < 0)
@@ -440,13 +445,13 @@ void UsbCam::mjpeg2rgb(char *MJPEG, int len, char *RGB, int NumPixels)
     return;
   }
 
-  video_sws_ = sws_getContext(xsize, ysize, avcodec_context_->pix_fmt, xsize, ysize, PIX_FMT_RGB24, SWS_BILINEAR, NULL,
+  video_sws_ = sws_getContext(xsize, ysize, avcodec_context_->pix_fmt, xsize, ysize, AV_PIX_FMT_RGB24, SWS_BILINEAR, NULL,
 			      NULL,  NULL);
   sws_scale(video_sws_, avframe_camera_->data, avframe_camera_->linesize, 0, ysize, avframe_rgb_->data,
             avframe_rgb_->linesize);
   sws_freeContext(video_sws_);
 
-  int size = avpicture_layout((AVPicture *)avframe_rgb_, PIX_FMT_RGB24, xsize, ysize, (uint8_t *)RGB, avframe_rgb_size_);
+  int size = avpicture_layout((AVPicture *)avframe_rgb_, AV_PIX_FMT_RGB24, xsize, ysize, (uint8_t *)RGB, avframe_rgb_size_);
   if (size != avframe_rgb_size_)
   {
     ROS_ERROR("webcam: avpicture_layout error: %d", size);