233 lines
8.4 KiB
C++
233 lines
8.4 KiB
C++
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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#ifndef SENSOR_MSGS_IMAGE_ENCODINGS_H
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#define SENSOR_MSGS_IMAGE_ENCODINGS_H
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#include <stdexcept>
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#include <string>
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namespace sensor_msgs
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{
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namespace image_encodings
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{
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const std::string RGB8 = "rgb8";
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const std::string RGBA8 = "rgba8";
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const std::string RGB16 = "rgb16";
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const std::string RGBA16 = "rgba16";
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const std::string BGR8 = "bgr8";
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const std::string BGRA8 = "bgra8";
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const std::string BGR16 = "bgr16";
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const std::string BGRA16 = "bgra16";
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const std::string MONO8="mono8";
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const std::string MONO16="mono16";
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// OpenCV CvMat types
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const std::string TYPE_8UC1="8UC1";
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const std::string TYPE_8UC2="8UC2";
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const std::string TYPE_8UC3="8UC3";
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const std::string TYPE_8UC4="8UC4";
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const std::string TYPE_8SC1="8SC1";
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const std::string TYPE_8SC2="8SC2";
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const std::string TYPE_8SC3="8SC3";
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const std::string TYPE_8SC4="8SC4";
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const std::string TYPE_16UC1="16UC1";
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const std::string TYPE_16UC2="16UC2";
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const std::string TYPE_16UC3="16UC3";
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const std::string TYPE_16UC4="16UC4";
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const std::string TYPE_16SC1="16SC1";
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const std::string TYPE_16SC2="16SC2";
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const std::string TYPE_16SC3="16SC3";
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const std::string TYPE_16SC4="16SC4";
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const std::string TYPE_32SC1="32SC1";
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const std::string TYPE_32SC2="32SC2";
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const std::string TYPE_32SC3="32SC3";
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const std::string TYPE_32SC4="32SC4";
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const std::string TYPE_32FC1="32FC1";
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const std::string TYPE_32FC2="32FC2";
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const std::string TYPE_32FC3="32FC3";
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const std::string TYPE_32FC4="32FC4";
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const std::string TYPE_64FC1="64FC1";
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const std::string TYPE_64FC2="64FC2";
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const std::string TYPE_64FC3="64FC3";
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const std::string TYPE_64FC4="64FC4";
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// Bayer encodings
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const std::string BAYER_RGGB8="bayer_rggb8";
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const std::string BAYER_BGGR8="bayer_bggr8";
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const std::string BAYER_GBRG8="bayer_gbrg8";
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const std::string BAYER_GRBG8="bayer_grbg8";
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const std::string BAYER_RGGB16="bayer_rggb16";
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const std::string BAYER_BGGR16="bayer_bggr16";
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const std::string BAYER_GBRG16="bayer_gbrg16";
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const std::string BAYER_GRBG16="bayer_grbg16";
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// Miscellaneous
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// This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY
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// with an 8-bit depth
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const std::string YUV422="yuv422";
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// Prefixes for abstract image encodings
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const std::string ABSTRACT_ENCODING_PREFIXES[] = {
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"8UC", "8SC", "16UC", "16SC", "32SC", "32FC", "64FC"};
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// Utility functions for inspecting an encoding string
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static inline bool isColor(const std::string& encoding)
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{
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return encoding == RGB8 || encoding == BGR8 ||
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encoding == RGBA8 || encoding == BGRA8 ||
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encoding == RGB16 || encoding == BGR16 ||
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encoding == RGBA16 || encoding == BGRA16;
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}
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static inline bool isMono(const std::string& encoding)
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{
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return encoding == MONO8 || encoding == MONO16;
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}
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static inline bool isBayer(const std::string& encoding)
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{
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return encoding == BAYER_RGGB8 || encoding == BAYER_BGGR8 ||
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encoding == BAYER_GBRG8 || encoding == BAYER_GRBG8 ||
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encoding == BAYER_RGGB16 || encoding == BAYER_BGGR16 ||
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encoding == BAYER_GBRG16 || encoding == BAYER_GRBG16;
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}
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static inline bool hasAlpha(const std::string& encoding)
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{
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return encoding == RGBA8 || encoding == BGRA8 ||
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encoding == RGBA16 || encoding == BGRA16;
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}
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static inline int numChannels(const std::string& encoding)
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{
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// First do the common-case encodings
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if (encoding == MONO8 ||
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encoding == MONO16)
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return 1;
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if (encoding == BGR8 ||
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encoding == RGB8 ||
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encoding == BGR16 ||
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encoding == RGB16)
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return 3;
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if (encoding == BGRA8 ||
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encoding == RGBA8 ||
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encoding == BGRA16 ||
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encoding == RGBA16)
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return 4;
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if (encoding == BAYER_RGGB8 ||
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encoding == BAYER_BGGR8 ||
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encoding == BAYER_GBRG8 ||
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encoding == BAYER_GRBG8 ||
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encoding == BAYER_RGGB16 ||
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encoding == BAYER_BGGR16 ||
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encoding == BAYER_GBRG16 ||
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encoding == BAYER_GRBG16)
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return 1;
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// Now all the generic content encodings
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// TODO: Rewrite with regex when ROS supports C++11
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for (size_t i=0; i < sizeof(ABSTRACT_ENCODING_PREFIXES) / sizeof(*ABSTRACT_ENCODING_PREFIXES); i++)
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{
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std::string prefix = ABSTRACT_ENCODING_PREFIXES[i];
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if (encoding.substr(0, prefix.size()) != prefix)
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continue;
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if (encoding.size() == prefix.size())
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return 1; // ex. 8UC -> 1
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int n_channel = atoi(encoding.substr(prefix.size(),
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encoding.size() - prefix.size()).c_str()); // ex. 8UC5 -> 5
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if (n_channel != 0)
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return n_channel; // valid encoding string
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}
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if (encoding == YUV422)
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return 2;
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throw std::runtime_error("Unknown encoding " + encoding);
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return -1;
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}
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static inline int bitDepth(const std::string& encoding)
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{
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if (encoding == MONO16)
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return 16;
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if (encoding == MONO8 ||
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encoding == BGR8 ||
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encoding == RGB8 ||
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encoding == BGRA8 ||
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encoding == RGBA8 ||
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encoding == BAYER_RGGB8 ||
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encoding == BAYER_BGGR8 ||
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encoding == BAYER_GBRG8 ||
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encoding == BAYER_GRBG8)
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return 8;
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if (encoding == MONO16 ||
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encoding == BGR16 ||
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encoding == RGB16 ||
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encoding == BGRA16 ||
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encoding == RGBA16 ||
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encoding == BAYER_RGGB16 ||
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encoding == BAYER_BGGR16 ||
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encoding == BAYER_GBRG16 ||
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encoding == BAYER_GRBG16)
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return 16;
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// Now all the generic content encodings
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// TODO: Rewrite with regex when ROS supports C++11
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for (size_t i=0; i < sizeof(ABSTRACT_ENCODING_PREFIXES) / sizeof(*ABSTRACT_ENCODING_PREFIXES); i++)
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{
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std::string prefix = ABSTRACT_ENCODING_PREFIXES[i];
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if (encoding.substr(0, prefix.size()) != prefix)
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continue;
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if (encoding.size() == prefix.size())
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return atoi(prefix.c_str()); // ex. 8UC -> 8
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int n_channel = atoi(encoding.substr(prefix.size(),
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encoding.size() - prefix.size()).c_str()); // ex. 8UC10 -> 10
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if (n_channel != 0)
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return atoi(prefix.c_str()); // valid encoding string
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}
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if (encoding == YUV422)
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return 8;
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throw std::runtime_error("Unknown encoding " + encoding);
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return -1;
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}
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}
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}
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#endif
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