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IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #ifndef SENSOR_MSGS_IMAGE_ENCODINGS_H 00037 #define SENSOR_MSGS_IMAGE_ENCODINGS_H 00038 00039 #include <stdexcept> 00040 #include <string> 00041 00042 namespace sensor_msgs 00043 { 00044 namespace image_encodings 00045 { 00046 const std::string RGB8 = "rgb8"; 00047 const std::string RGBA8 = "rgba8"; 00048 const std::string RGB16 = "rgb16"; 00049 const std::string RGBA16 = "rgba16"; 00050 const std::string BGR8 = "bgr8"; 00051 const std::string BGRA8 = "bgra8"; 00052 const std::string BGR16 = "bgr16"; 00053 const std::string BGRA16 = "bgra16"; 00054 const std::string MONO8="mono8"; 00055 const std::string MONO16="mono16"; 00056 00057 // OpenCV CvMat types 00058 const std::string TYPE_8UC1="8UC1"; 00059 const std::string TYPE_8UC2="8UC2"; 00060 const std::string TYPE_8UC3="8UC3"; 00061 const std::string TYPE_8UC4="8UC4"; 00062 const std::string TYPE_8SC1="8SC1"; 00063 const std::string TYPE_8SC2="8SC2"; 00064 const std::string TYPE_8SC3="8SC3"; 00065 const std::string TYPE_8SC4="8SC4"; 00066 const std::string TYPE_16UC1="16UC1"; 00067 const std::string TYPE_16UC2="16UC2"; 00068 const std::string TYPE_16UC3="16UC3"; 00069 const std::string TYPE_16UC4="16UC4"; 00070 const std::string TYPE_16SC1="16SC1"; 00071 const std::string TYPE_16SC2="16SC2"; 00072 const std::string TYPE_16SC3="16SC3"; 00073 const std::string TYPE_16SC4="16SC4"; 00074 const std::string TYPE_32SC1="32SC1"; 00075 const std::string TYPE_32SC2="32SC2"; 00076 const std::string TYPE_32SC3="32SC3"; 00077 const std::string TYPE_32SC4="32SC4"; 00078 const std::string TYPE_32FC1="32FC1"; 00079 const std::string TYPE_32FC2="32FC2"; 00080 const std::string TYPE_32FC3="32FC3"; 00081 const std::string TYPE_32FC4="32FC4"; 00082 const std::string TYPE_64FC1="64FC1"; 00083 const std::string TYPE_64FC2="64FC2"; 00084 const std::string TYPE_64FC3="64FC3"; 00085 const std::string TYPE_64FC4="64FC4"; 00086 00087 // Bayer encodings 00088 const std::string BAYER_RGGB8="bayer_rggb8"; 00089 const std::string BAYER_BGGR8="bayer_bggr8"; 00090 const std::string BAYER_GBRG8="bayer_gbrg8"; 00091 const std::string BAYER_GRBG8="bayer_grbg8"; 00092 const std::string BAYER_RGGB16="bayer_rggb16"; 00093 const std::string BAYER_BGGR16="bayer_bggr16"; 00094 const std::string BAYER_GBRG16="bayer_gbrg16"; 00095 const std::string BAYER_GRBG16="bayer_grbg16"; 00096 00097 // Miscellaneous 00098 const std::string YUV422="yuv422"; 00099 00100 // Utility functions for inspecting an encoding string 00101 static inline bool isColor(const std::string& encoding) 00102 { 00103 return encoding == RGB8 || encoding == BGR8 || 00104 encoding == RGBA8 || encoding == BGRA8 || 00105 encoding == RGB16 || encoding == BGR16 || 00106 encoding == RGBA16 || encoding == BGRA16; 00107 } 00108 00109 static inline bool isMono(const std::string& encoding) 00110 { 00111 return encoding == MONO8 || encoding == MONO16; 00112 } 00113 00114 static inline bool isBayer(const std::string& encoding) 00115 { 00116 return encoding == BAYER_RGGB8 || encoding == BAYER_BGGR8 || 00117 encoding == BAYER_GBRG8 || encoding == BAYER_GRBG8 || 00118 encoding == BAYER_RGGB16 || encoding == BAYER_BGGR16 || 00119 encoding == BAYER_GBRG16 || encoding == BAYER_GRBG16; 00120 } 00121 00122 static inline bool hasAlpha(const std::string& encoding) 00123 { 00124 return encoding == RGBA8 || encoding == BGRA8 || 00125 encoding == RGBA16 || encoding == BGRA16; 00126 } 00127 00128 static inline int numChannels(const std::string& encoding) 00129 { 00130 // First do the common-case encodings 00131 if (encoding == MONO8 || 00132 encoding == MONO16) 00133 return 1; 00134 if (encoding == BGR8 || 00135 encoding == RGB8 || 00136 encoding == BGR16 || 00137 encoding == RGB16) 00138 return 3; 00139 if (encoding == BGRA8 || 00140 encoding == RGBA8 || 00141 encoding == BGRA16 || 00142 encoding == RGBA16) 00143 return 4; 00144 if (encoding == BAYER_RGGB8 || 00145 encoding == BAYER_BGGR8 || 00146 encoding == BAYER_GBRG8 || 00147 encoding == BAYER_GRBG8 || 00148 encoding == BAYER_RGGB16 || 00149 encoding == BAYER_BGGR16 || 00150 encoding == BAYER_GBRG16 || 00151 encoding == BAYER_GRBG16) 00152 return 1; 00153 00154 // Now all the generic content encodings 00155 #define CHECK_CHANNELS(N) \ 00156 if (encoding == TYPE_8UC##N || \ 00157 encoding == TYPE_8SC##N || \ 00158 encoding == TYPE_16UC##N || \ 00159 encoding == TYPE_16SC##N || \ 00160 encoding == TYPE_32SC##N || \ 00161 encoding == TYPE_32FC##N || \ 00162 encoding == TYPE_64FC##N) \ 00163 return N; \ 00164 /***/ 00165 00166 CHECK_CHANNELS(1); 00167 CHECK_CHANNELS(2); 00168 CHECK_CHANNELS(3); 00169 CHECK_CHANNELS(4); 00170 00171 #undef CHECK_CHANNELS 00172 00173 throw std::runtime_error("Unknown encoding " + encoding); 00174 return -1; 00175 } 00176 00177 static inline int bitDepth(const std::string& encoding) 00178 { 00179 if (encoding == MONO16) 00180 return 16; 00181 if (encoding == MONO8 || 00182 encoding == BGR8 || 00183 encoding == RGB8 || 00184 encoding == BGRA8 || 00185 encoding == RGBA8 || 00186 encoding == BAYER_RGGB8 || 00187 encoding == BAYER_BGGR8 || 00188 encoding == BAYER_GBRG8 || 00189 encoding == BAYER_GRBG8) 00190 return 8; 00191 00192 if (encoding == MONO16 || 00193 encoding == BGR16 || 00194 encoding == RGB16 || 00195 encoding == BGRA16 || 00196 encoding == RGBA16 || 00197 encoding == BAYER_RGGB16 || 00198 encoding == BAYER_BGGR16 || 00199 encoding == BAYER_GBRG16 || 00200 encoding == BAYER_GRBG16) 00201 return 16; 00202 00203 // B = bits (8, 16, ...), T = type (U, S, F) 00204 #define CHECK_BIT_DEPTH(B, T) \ 00205 if (encoding == TYPE_##B##T##C1 || \ 00206 encoding == TYPE_##B##T##C2 || \ 00207 encoding == TYPE_##B##T##C3 || \ 00208 encoding == TYPE_##B##T##C4) \ 00209 return B; \ 00210 /***/ 00211 00212 CHECK_BIT_DEPTH(8, U); 00213 CHECK_BIT_DEPTH(8, S); 00214 CHECK_BIT_DEPTH(16, U); 00215 CHECK_BIT_DEPTH(16, S); 00216 CHECK_BIT_DEPTH(32, S); 00217 CHECK_BIT_DEPTH(32, F); 00218 CHECK_BIT_DEPTH(64, F); 00219 00220 #undef CHECK_BIT_DEPTH 00221 00222 throw std::runtime_error("Unknown encoding " + encoding); 00223 return -1; 00224 } 00225 } 00226 } 00227 00228 #endif