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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