71 lines
2.5 KiB
C
71 lines
2.5 KiB
C
|
/*********************************************************************
|
||
|
|
* Software License Agreement (BSD License)
|
||
|
|
*
|
||
|
|
* Copyright (c) 2008, Willow Garage, Inc.
|
||
|
|
* All rights reserved.
|
||
|
|
*
|
||
|
|
* Redistribution and use in source and binary forms, with or without
|
||
|
|
* modification, are permitted provided that the following conditions
|
||
|
|
* are met:
|
||
|
|
*
|
||
|
|
* * Redistributions of source code must retain the above copyright
|
||
|
|
* notice, this list of conditions and the following disclaimer.
|
||
|
|
* * Redistributions in binary form must reproduce the above
|
||
|
|
* copyright notice, this list of conditions and the following
|
||
|
|
* disclaimer in the documentation and/or other materials provided
|
||
|
|
* with the distribution.
|
||
|
|
* * Neither the name of the Willow Garage nor the names of its
|
||
|
|
* contributors may be used to endorse or promote products derived
|
||
|
|
* from this software without specific prior written permission.
|
||
|
|
*
|
||
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
*********************************************************************/
|
||
|
|
|
||
|
|
#ifndef FILLIMAGE_HH
|
||
|
|
#define FILLIMAGE_HH
|
||
|
|
|
||
|
|
#include "sensor_msgs/Image.h"
|
||
|
|
#include "sensor_msgs/image_encodings.h"
|
||
|
|
|
||
|
|
namespace sensor_msgs
|
||
|
|
{
|
||
|
|
|
||
|
|
static inline bool fillImage(Image& image,
|
||
|
|
const std::string& encoding_arg,
|
||
|
|
uint32_t rows_arg,
|
||
|
|
uint32_t cols_arg,
|
||
|
|
uint32_t step_arg,
|
||
|
|
const void* data_arg)
|
||
|
|
{
|
||
|
|
image.encoding = encoding_arg;
|
||
|
|
image.height = rows_arg;
|
||
|
|
image.width = cols_arg;
|
||
|
|
image.step = step_arg;
|
||
|
|
size_t st0 = (step_arg * rows_arg);
|
||
|
|
image.data.resize(st0);
|
||
|
|
memcpy(&image.data[0], data_arg, st0);
|
||
|
|
|
||
|
|
image.is_bigendian = 0;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline void clearImage(Image& image)
|
||
|
|
{
|
||
|
|
image.data.resize(0);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|