sensor_msgs: sensor_msgs: image_encodings.h Source File

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00035 
00036 #ifndef SENSOR_MSGS_IMAGE_ENCODINGS_H
00037 #define SENSOR_MSGS_IMAGE_ENCODINGS_H
00038 
00039 #include <string>
00040 
00041 namespace sensor_msgs
00042 {
00043   namespace image_encodings
00044   {
00045     extern const std::string RGB8;
00046     extern const std::string RGBA8;
00047     extern const std::string RGB16;
00048     extern const std::string RGBA16;
00049     extern const std::string BGR8;
00050     extern const std::string BGRA8;
00051     extern const std::string BGR16;
00052     extern const std::string BGRA16;
00053     extern const std::string MONO8;
00054     extern const std::string MONO16;
00055 
00056     // OpenCV CvMat types
00057     extern const std::string TYPE_8UC1;
00058     extern const std::string TYPE_8UC2;
00059     extern const std::string TYPE_8UC3;
00060     extern const std::string TYPE_8UC4;
00061     extern const std::string TYPE_8SC1;
00062     extern const std::string TYPE_8SC2;
00063     extern const std::string TYPE_8SC3;
00064     extern const std::string TYPE_8SC4;
00065     extern const std::string TYPE_16UC1;
00066     extern const std::string TYPE_16UC2;
00067     extern const std::string TYPE_16UC3;
00068     extern const std::string TYPE_16UC4;
00069     extern const std::string TYPE_16SC1;
00070     extern const std::string TYPE_16SC2;
00071     extern const std::string TYPE_16SC3;
00072     extern const std::string TYPE_16SC4;
00073     extern const std::string TYPE_32SC1;
00074     extern const std::string TYPE_32SC2;
00075     extern const std::string TYPE_32SC3;
00076     extern const std::string TYPE_32SC4;
00077     extern const std::string TYPE_32FC1;
00078     extern const std::string TYPE_32FC2;
00079     extern const std::string TYPE_32FC3;
00080     extern const std::string TYPE_32FC4;
00081     extern const std::string TYPE_64FC1;
00082     extern const std::string TYPE_64FC2;
00083     extern const std::string TYPE_64FC3;
00084     extern const std::string TYPE_64FC4;
00085 
00086     // Bayer encodings
00087     extern const std::string BAYER_RGGB8;
00088     extern const std::string BAYER_BGGR8;
00089     extern const std::string BAYER_GBRG8;
00090     extern const std::string BAYER_GRBG8;
00091     extern const std::string BAYER_RGGB16;
00092     extern const std::string BAYER_BGGR16;
00093     extern const std::string BAYER_GBRG16;
00094     extern const std::string BAYER_GRBG16;
00095 
00096     // Miscellaneous
00097     extern const std::string YUV422;
00098 
00099     // Utility functions for inspecting an encoding string
00100     bool isColor(const std::string& encoding);
00101     bool isMono(const std::string& encoding);
00102     bool isBayer(const std::string& encoding);
00103     bool hasAlpha(const std::string& encoding);
00104     int numChannels(const std::string& encoding);
00105     int bitDepth(const std::string& encoding);
00106   }
00107 }
00108 
00109 #endif