From 7eda1b11f7a43dfdccfd66630e536f037f7875ea Mon Sep 17 00:00:00 2001
From: James Pace <jpace121@gmail.com>
Date: Fri, 12 Jun 2026 21:18:47 -0400
Subject: [PATCH] Lyrical support.

---
 CMakeLists.txt | 7 +++++--
 src/video.cpp  | 4 ++--
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0956b02..4719a26 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 project(image2rtsp)
 
 # Default to C99
@@ -34,7 +34,10 @@ include_directories(${OpenCV_INCLUDE_DIRS})
 file(GLOB SOURCES src/video.cpp)
 
 add_executable(image2rtsp src/image2rtsp.cpp ${SOURCES})
-ament_target_dependencies(image2rtsp rclcpp sensor_msgs)
+target_link_libraries(image2rtsp
+    rclcpp::rclcpp
+    ${sensor_msgs_TARGETS}
+)
 
 include_directories(
   ${GST_INCLUDE_DIRS}
diff --git a/src/video.cpp b/src/video.cpp
index bde96c5..9a208f5 100644
--- a/src/video.cpp
+++ b/src/video.cpp
@@ -172,7 +172,7 @@ void Image2rtsp::topic_callback(const sensor_msgs::msg::Image::SharedPtr msg){
 void Image2rtsp::compressed_topic_callback(const sensor_msgs::msg::CompressedImage::SharedPtr msg){
     if (appsrc == NULL) return;
     // Decompress the image
-    cv::Mat img = cv::imdecode(cv::Mat(msg->data), cv::IMREAD_UNCHANGED);
+    cv::Mat img = cv::imdecode(cv::Mat(msg->data.to_vector()), cv::IMREAD_UNCHANGED);
     if (img.empty()) {
         RCLCPP_ERROR(this->get_logger(), "Failed to decompress image");
         return;
@@ -207,4 +207,4 @@ void Image2rtsp::compressed_topic_callback(const sensor_msgs::msg::CompressedIma
 
     // Push the buffer to GStreamer
     gst_app_src_push_buffer(appsrc, buf);
-}
\ No newline at end of file
+}