First commit

.github/workflows/documentation.yaml

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+name: Documentation
+
+on:
+  push:
+    branches: [ main ]
+
+jobs:
+  build-documentation:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Doxygen
+        uses: mattnotmitt/[email protected]
+        with:
+          doxyfile-path: Doxyfile
+          working-directory: docs
+
+      - name: Github Pages
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./docs/html/
+          publish_branch: gh-pages

.github/workflows/submodule.yaml

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+name: Submodule
+
+on:
+  push:
+    branches: [ main ]
+
+jobs:
+  update-submodule-branch:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Configure git
+        run: |
+          git config --global user.name "Raul Tapia"
+          git config --global user.email "[email protected]"
+
+      - name: Delete submodule branch
+        run: |
+          git push origin --delete submodule
+        continue-on-error: true
+
+      - name: Publish into submodule branch
+        run: |
+          mv include/rush/*.hpp .
+          rm -rf .github docs include .gitignore README.md LICENSE
+          git checkout -b submodule
+          git add .
+          git commit --amend -m "Auto-update RUSH"
+          git push origin submodule

.gitignore

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+.clang-format
+build/
+cmake
+CMakeLists.txt
+Dockerfile
+docs/*.svg
+tests/

README.md

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+<!--
+\cond INTERNAL
+-->
+<div align="center" style="margin-bottom: 10px;">
+<a href="https://github.com/raultapia/rush">
+<img src="https://github.com/raultapia/rush/blob/main/docs/rush.png?raw=true" alt="rush">
+</a>
+</div>
+<p align="center">
+Reusable Utilities in Single Headers is a collection of header-only utilities for C++
+</p>
+<!--
+\endcond
+-->
+
+## ⚙️ Using RUSH in Your Project
+```bash
+git submodule add -b submodule https://github.com/raultapia/rush include/rush
+```
+
+## 🖥️ List of Utilities
+|Name|Include|Namespace|
+|:-|:-|:-:|
+|Chrono|`#include <rush/chrono.hpp>`|`rush::chrono`|
+|OpenCV HighGUI|`#include <rush/cv-highgui.hpp>`|`rush::cv`|
+|ROS-OpenCV Bridge|`#include <rush/ros-cv-bridge.hpp>`|`rush::roscv`|
+|ROS Parameter Manager|`#include <rush/ros-parameter-manager.hpp>`|`rush::ros`|
+
+## 📚 Documentation
+RUSH documentation can be found [here](https://raultapia.github.io/rush).
+
+## 📝 License
+
+Distributed under the GPLv3 License. See [`LICENSE`](https://github.com/raultapia/rush/tree/main/LICENSE) for more information.
+
+## 📬 Contact
+
+[Raul Tapia](https://raultapia.com) - [email protected]

docs/Doxyfile

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+PROJECT_NAME           = RUSH
+PROJECT_BRIEF          = "Reusable Utilities in Single Headers is a collection of header-only utilities for C++"
+PROJECT_LOGO           = rush.png
+USE_MDFILE_AS_MAINPAGE = ../README.md
+GENERATE_HTML          = YES
+USE_MATHJAX            = YES
+RECURSIVE              = YES
+INPUT                  = ..
+OUTPUT_DIRECTORY       = .

include/rush/chrono.hpp

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+/**
+ * @file chrono.hpp
+ * @brief This library provides chrono utilities.
+ * @author Raul Tapia (raultapia.com)
+ */
+#ifndef RUSH_CHRONO_HPP
+#define RUSH_CHRONO_HPP
+
+#include <chrono>
+#include <iostream>
+#include <ratio>
+#include <string>
+#include <utility>
+
+namespace rush::chrono {
+
+/*! \cond INTERNAL */
+#define DEFINE_UNIT_MACRO(name, unit)    \
+  template <>                            \
+  struct Unit<name> {                    \
+    static constexpr const char *str() { \
+      return unit;                       \
+    }                                    \
+  };
+
+template <typename T>
+struct Unit;
+
+DEFINE_UNIT_MACRO(std::nano, "ns")
+DEFINE_UNIT_MACRO(std::micro, "us")
+DEFINE_UNIT_MACRO(std::milli, "ms")
+DEFINE_UNIT_MACRO(std::ratio<1>, "s")
+DEFINE_UNIT_MACRO(std::ratio<60>, "min")
+DEFINE_UNIT_MACRO(std::ratio<3600>, "h")
+DEFINE_UNIT_MACRO(std::ratio<86400>, "day")
+/*! \endcond */
+
+using ns = std::nano;          ///< Convenience alias for nanoseconds
+using us = std::micro;         ///< Convenience alias for microseconds
+using ms = std::milli;         ///< Convenience alias for milliseconds
+using s = std::ratio<1>;       ///< Convenience alias for seconds
+using min = std::ratio<60>;    ///< Convenience alias for minutes
+using hour = std::ratio<3600>; ///< Convenience alias for hours
+using day = std::ratio<86400>; ///< Convenience alias for days
+
+/**
+ * @brief A simple chrono class to measure elapsed time.
+ *
+ * @tparam T Unit of time (default to seconds).
+ */
+template <typename T = s>
+class Chrono {
+public:
+  Chrono() : t0_(std::chrono::high_resolution_clock::now()) {}
+  ~Chrono() = default;
+  Chrono(const Chrono &) = delete;
+  Chrono(Chrono &&) noexcept = delete;
+  Chrono &operator=(const Chrono &) = delete;
+  Chrono &operator=(Chrono &&other) noexcept = delete;
+
+  /**
+   * @brief Reset the chrono timer.
+   *
+   */
+  inline void tic() {
+    t0_ = std::chrono::high_resolution_clock::now();
+  }
+
+  /**
+   * @brief Get elapsed time since last tic.
+   *
+   * @return Elapsed time in the specified unit.
+   */
+  [[nodiscard]] inline double toc() const {
+    return std::chrono::duration_cast<std::chrono::duration<double, T>>(std::chrono::high_resolution_clock::now() - t0_).count();
+  }
+
+private:
+  std::chrono::time_point<std::chrono::high_resolution_clock> t0_;
+};
+
+/**
+ * @brief A chrono class that automatically prints elapsed time.
+ *
+ * @tparam T Unit of time (default to seconds).
+ */
+template <typename T = s>
+class Chronometer : public Chrono<T> {
+public:
+  /**
+   * @brief Constructor.
+   *
+   * @param name Optional name to be printed along with elapsed time.
+   */
+  explicit Chronometer(std::string name = "") : name_{std::move(name)} {}
+
+  ~Chronometer() {
+    double t = Chrono<T>::toc();
+    if(!name_.empty()) {
+      std::cout << "[" << name_ << "] ";
+    }
+    std::cout << "Elapsed time: " << t << " " << Unit<T>().str() << std::endl;
+  }
+
+  Chronometer(const Chronometer &) = delete;
+  Chronometer(Chronometer &&) noexcept = delete;
+  Chronometer &operator=(const Chronometer &) = delete;
+  Chronometer &operator=(Chronometer &&other) noexcept = delete;
+
+private:
+  std::string name_;
+};
+
+} // namespace rush::chrono
+
+#endif // RUSH_CHRONO_HPP

include/rush/cv-highgui.hpp

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+/**
+ * @file cv-highgui.hpp
+ * @brief This library extends OpenCV's HighGUI functionalities.
+ * @author Raul Tapia (raultapia.com)
+ */
+#ifndef RUSH_CV_HIGHGUI_HPP
+#define RUSH_CV_HIGHGUI_HPP
+
+#include <algorithm>
+#include <cstddef>
+#include <opencv2/core.hpp>
+#include <opencv2/core/mat.hpp>
+#include <opencv2/core/mat.inl.hpp>
+#include <opencv2/core/types.hpp>
+#include <opencv2/imgproc.hpp>
+#include <vector>
+
+namespace rush::cv {
+
+/**
+ * @brief Create a montage from a matrix of images.
+ *
+ * This function takes a vector of vectors of images and creates a montage by resizing and concatenating them.
+ *
+ * @param images Vector of vectors of images.
+ * @return A single montage image.
+ */
+inline ::cv::Mat montage(std::vector<std::vector<::cv::Mat>> &images) {
+  ::cv::Mat montage;
+  ::cv::Size ref{images[0][0].size()};
+  std::size_t max_col = 0;
+
+  for(const std::vector<::cv::Mat> &v : images) {
+    for(const ::cv::Mat &i : v) {
+      if(i.size().area() < ref.area()) {
+        ref = i.size();
+      }
+      max_col = std::max(max_col, v.size());
+    }
+  }
+
+  std::vector<::cv::Mat> rows;
+  for(std::vector<::cv::Mat> &v : images) {
+    for(::cv::Mat &i : v) {
+      ::cv::resize(i, i, ref);
+    }
+    while(v.size() < max_col) {
+      v.emplace_back(ref, images[0][0].type(), ::cv::Scalar(0));
+    }
+    rows.emplace_back(v.size() * ref.width, ref.height, images[0][0].type());
+    ::cv::hconcat(v.data(), v.size(), rows.back());
+  }
+  ::cv::vconcat(rows.data(), rows.size(), montage);
+  return montage;
+}
+
+/**
+ * @brief Create a montage from a vector of images with a specified step.
+ *
+ * This function takes a vector of images and creates a montage with a specified step by calling the main montage function.
+ *
+ * @param images Vector of images.
+ * @param step Step size for selecting images.
+ * @return A single montage image.
+ * @see montage(std::vector<std::vector<::cv::Mat>> &images)
+ */
+inline ::cv::Mat montage(std::vector<::cv::Mat> &images, std::size_t step = 0) {
+  std::vector<std::vector<::cv::Mat>> img_vector;
+  if(!static_cast<bool>(step)) {
+    step = images.size();
+  }
+  for(std::size_t i = 0; i < images.size(); i += step) {
+    img_vector.emplace_back(images.begin() + static_cast<long>(i), std::min(images.begin() + static_cast<long>(i + step), images.end()));
+  }
+  return montage(img_vector);
+}
+
+} // namespace rush::cv
+
+#endif // RUSH_CV_HIGHGUI_HPP