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#ifndef SENSOR_MSGS_IMAGE_ENCODINGS_H
#define SENSOR_MSGS_IMAGE_ENCODINGS_H
#include <stdexcept>
#include <string>
namespace sensor_msgs
{
namespace image_encodings
{
const std::string RGB8 = "rgb8";
const std::string RGBA8 = "rgba8";
const std::string RGB16 = "rgb16";
const std::string RGBA16 = "rgba16";
const std::string BGR8 = "bgr8";
const std::string BGRA8 = "bgra8";
const std::string BGR16 = "bgr16";
const std::string BGRA16 = "bgra16";
const std::string MONO8="mono8";
const std::string MONO16="mono16";
// OpenCV CvMat types
const std::string TYPE_8UC1="8UC1";
const std::string TYPE_8UC2="8UC2";
const std::string TYPE_8UC3="8UC3";
const std::string TYPE_8UC4="8UC4";
const std::string TYPE_8SC1="8SC1";
const std::string TYPE_8SC2="8SC2";
const std::string TYPE_8SC3="8SC3";
const std::string TYPE_8SC4="8SC4";
const std::string TYPE_16UC1="16UC1";
const std::string TYPE_16UC2="16UC2";
const std::string TYPE_16UC3="16UC3";
const std::string TYPE_16UC4="16UC4";
const std::string TYPE_16SC1="16SC1";
const std::string TYPE_16SC2="16SC2";
const std::string TYPE_16SC3="16SC3";
const std::string TYPE_16SC4="16SC4";
const std::string TYPE_32SC1="32SC1";
const std::string TYPE_32SC2="32SC2";
const std::string TYPE_32SC3="32SC3";
const std::string TYPE_32SC4="32SC4";
const std::string TYPE_32FC1="32FC1";
const std::string TYPE_32FC2="32FC2";
const std::string TYPE_32FC3="32FC3";
const std::string TYPE_32FC4="32FC4";
const std::string TYPE_64FC1="64FC1";
const std::string TYPE_64FC2="64FC2";
const std::string TYPE_64FC3="64FC3";
const std::string TYPE_64FC4="64FC4";
// Bayer encodings
const std::string BAYER_RGGB8="bayer_rggb8";
const std::string BAYER_BGGR8="bayer_bggr8";
const std::string BAYER_GBRG8="bayer_gbrg8";
const std::string BAYER_GRBG8="bayer_grbg8";
const std::string BAYER_RGGB16="bayer_rggb16";
const std::string BAYER_BGGR16="bayer_bggr16";
const std::string BAYER_GBRG16="bayer_gbrg16";
const std::string BAYER_GRBG16="bayer_grbg16";
// Miscellaneous
// This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY
// with an 8-bit depth
const std::string YUV422="yuv422";
// Prefixes for abstract image encodings
const std::string ABSTRACT_ENCODING_PREFIXES[] = {
"8UC", "8SC", "16UC", "16SC", "32SC", "32FC", "64FC"};
// Utility functions for inspecting an encoding string
static inline bool isColor(const std::string& encoding)
{
return encoding == RGB8 || encoding == BGR8 ||
encoding == RGBA8 || encoding == BGRA8 ||
encoding == RGB16 || encoding == BGR16 ||
encoding == RGBA16 || encoding == BGRA16;
}
static inline bool isMono(const std::string& encoding)
{
return encoding == MONO8 || encoding == MONO16;
}
static inline bool isBayer(const std::string& encoding)
{
return encoding == BAYER_RGGB8 || encoding == BAYER_BGGR8 ||
encoding == BAYER_GBRG8 || encoding == BAYER_GRBG8 ||
encoding == BAYER_RGGB16 || encoding == BAYER_BGGR16 ||
encoding == BAYER_GBRG16 || encoding == BAYER_GRBG16;
}
static inline bool hasAlpha(const std::string& encoding)
{
return encoding == RGBA8 || encoding == BGRA8 ||
encoding == RGBA16 || encoding == BGRA16;
}
static inline int numChannels(const std::string& encoding)
{
// First do the common-case encodings
if (encoding == MONO8 ||
encoding == MONO16)
return 1;
if (encoding == BGR8 ||
encoding == RGB8 ||
encoding == BGR16 ||
encoding == RGB16)
return 3;
if (encoding == BGRA8 ||
encoding == RGBA8 ||
encoding == BGRA16 ||
encoding == RGBA16)
return 4;
if (encoding == BAYER_RGGB8 ||
encoding == BAYER_BGGR8 ||
encoding == BAYER_GBRG8 ||
encoding == BAYER_GRBG8 ||
encoding == BAYER_RGGB16 ||
encoding == BAYER_BGGR16 ||
encoding == BAYER_GBRG16 ||
encoding == BAYER_GRBG16)
return 1;
// Now all the generic content encodings
// TODO: Rewrite with regex when ROS supports C++11
for (size_t i=0; i < sizeof(ABSTRACT_ENCODING_PREFIXES) / sizeof(*ABSTRACT_ENCODING_PREFIXES); i++)
{
std::string prefix = ABSTRACT_ENCODING_PREFIXES[i];
if (encoding.substr(0, prefix.size()) != prefix)
continue;
if (encoding.size() == prefix.size())
return 1; // ex. 8UC -> 1
int n_channel = atoi(encoding.substr(prefix.size(),
encoding.size() - prefix.size()).c_str()); // ex. 8UC5 -> 5
if (n_channel != 0)
return n_channel; // valid encoding string
}
if (encoding == YUV422)
return 2;
throw std::runtime_error("Unknown encoding " + encoding);
return -1;
}
static inline int bitDepth(const std::string& encoding)
{
if (encoding == MONO16)
return 16;
if (encoding == MONO8 ||
encoding == BGR8 ||
encoding == RGB8 ||
encoding == BGRA8 ||
encoding == RGBA8 ||
encoding == BAYER_RGGB8 ||
encoding == BAYER_BGGR8 ||
encoding == BAYER_GBRG8 ||
encoding == BAYER_GRBG8)
return 8;
if (encoding == MONO16 ||
encoding == BGR16 ||
encoding == RGB16 ||
encoding == BGRA16 ||
encoding == RGBA16 ||
encoding == BAYER_RGGB16 ||
encoding == BAYER_BGGR16 ||
encoding == BAYER_GBRG16 ||
encoding == BAYER_GRBG16)
return 16;
// Now all the generic content encodings
// TODO: Rewrite with regex when ROS supports C++11
for (size_t i=0; i < sizeof(ABSTRACT_ENCODING_PREFIXES) / sizeof(*ABSTRACT_ENCODING_PREFIXES); i++)
{
std::string prefix = ABSTRACT_ENCODING_PREFIXES[i];
if (encoding.substr(0, prefix.size()) != prefix)
continue;
if (encoding.size() == prefix.size())
return atoi(prefix.c_str()); // ex. 8UC -> 8
int n_channel = atoi(encoding.substr(prefix.size(),
encoding.size() - prefix.size()).c_str()); // ex. 8UC10 -> 10
if (n_channel != 0)
return atoi(prefix.c_str()); // valid encoding string
}
if (encoding == YUV422)
return 8;
throw std::runtime_error("Unknown encoding " + encoding);
return -1;
}
}
}
#endif