sensor_msgs: image_encodings.h Source File

00001 
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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 BGR8;
00048     extern const std::string BGRA8;
00049     extern const std::string MONO8;
00050     extern const std::string MONO16;
00051 
00052     // OpenCV CvMat types
00053     extern const std::string TYPE_8UC1;
00054     extern const std::string TYPE_8UC2;
00055     extern const std::string TYPE_8UC3;
00056     extern const std::string TYPE_8UC4;
00057     extern const std::string TYPE_8SC1;
00058     extern const std::string TYPE_8SC2;
00059     extern const std::string TYPE_8SC3;
00060     extern const std::string TYPE_8SC4;
00061     extern const std::string TYPE_16UC1;
00062     extern const std::string TYPE_16UC2;
00063     extern const std::string TYPE_16UC3;
00064     extern const std::string TYPE_16UC4;
00065     extern const std::string TYPE_16SC1;
00066     extern const std::string TYPE_16SC2;
00067     extern const std::string TYPE_16SC3;
00068     extern const std::string TYPE_16SC4;
00069     extern const std::string TYPE_32SC1;
00070     extern const std::string TYPE_32SC2;
00071     extern const std::string TYPE_32SC3;
00072     extern const std::string TYPE_32SC4;
00073     extern const std::string TYPE_32FC1;
00074     extern const std::string TYPE_32FC2;
00075     extern const std::string TYPE_32FC3;
00076     extern const std::string TYPE_32FC4;
00077     extern const std::string TYPE_64FC1;
00078     extern const std::string TYPE_64FC2;
00079     extern const std::string TYPE_64FC3;
00080     extern const std::string TYPE_64FC4;
00081 
00082     // Bayer encodings
00083     extern const std::string BAYER_RGGB8;
00084     extern const std::string BAYER_BGGR8;
00085     extern const std::string BAYER_GBRG8;
00086     extern const std::string BAYER_GRBG8;
00087 
00088     // Utility functions for inspecting an encoding string
00089     bool isColor(const std::string& encoding);
00090     bool isMono(const std::string& encoding);
00091     bool isBayer(const std::string& encoding);
00092     bool hasAlpha(const std::string& encoding);
00093     int numChannels(const std::string& encoding);
00094     int bitDepth(const std::string& encoding);
00095   }
00096 }
00097 
00098 #endif