cv_bridge.h

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#ifndef CV_BRIDGE_CV_BRIDGE_H
#define CV_BRIDGE_CV_BRIDGE_H

#include <sensor_msgs/Image.h>
#include <ros/static_assert.h>
#include <opencv2/core/core.hpp>
#include <stdexcept>

namespace cv_bridge {

class Exception : public std::runtime_error
{
public:
  Exception(const std::string& description) : std::runtime_error(description) {}
};

class CvImage;

typedef boost::shared_ptr<CvImage> CvImagePtr;
typedef boost::shared_ptr<CvImage const> CvImageConstPtr;

class CvImage
{
public:
  std_msgs::Header header; 
  std::string encoding;    
  cv::Mat image;           

  CvImage() {}

  CvImage(const std_msgs::Header& header, const std::string& encoding,
          const cv::Mat& image = cv::Mat())
    : header(header), encoding(encoding), image(image)
  {
  }
  
  sensor_msgs::ImagePtr toImageMsg() const;

  void toImageMsg(sensor_msgs::Image& ros_image) const;

  typedef boost::shared_ptr<CvImage> Ptr;
  typedef boost::shared_ptr<CvImage const> ConstPtr;

protected:
  boost::shared_ptr<void const> tracked_object_; // for sharing ownership

  friend
  CvImageConstPtr toCvShare(const sensor_msgs::Image& source,
                            const boost::shared_ptr<void const>& tracked_object,
                            const std::string& encoding);
};

CvImagePtr toCvCopy(const sensor_msgs::ImageConstPtr& source,
                    const std::string& encoding = std::string());

CvImagePtr toCvCopy(const sensor_msgs::Image& source,
                    const std::string& encoding = std::string());

CvImageConstPtr toCvShare(const sensor_msgs::ImageConstPtr& source,
                          const std::string& encoding = std::string());

CvImageConstPtr toCvShare(const sensor_msgs::Image& source,
                          const boost::shared_ptr<void const>& tracked_object,
                          const std::string& encoding = std::string());

CvImagePtr cvtColor(const CvImageConstPtr& source,
                    const std::string& encoding);

int getCvType(const std::string& encoding);

} // namespace cv_bridge



// CvImage as a first class message type

// The rest of this file hooks into the roscpp serialization API to make CvImage
// a first-class message type you can publish and subscribe to directly.
// Unfortunately this doesn't yet work with image_transport, so don't rewrite all
// your callbacks to use CvImage! It might be useful for specific tasks, like
// processing bag files.

namespace ros {

namespace message_traits {

template<> struct MD5Sum<cv_bridge::CvImage>
{
  static const char* value() { return MD5Sum<sensor_msgs::Image>::value(); }
  static const char* value(const cv_bridge::CvImage&) { return value(); }

  static const uint64_t static_value1 = MD5Sum<sensor_msgs::Image>::static_value1;
  static const uint64_t static_value2 = MD5Sum<sensor_msgs::Image>::static_value2;
  
  // If the definition of sensor_msgs/Image changes, we'll get a compile error here.
  ROS_STATIC_ASSERT(MD5Sum<sensor_msgs::Image>::static_value1 == 0x060021388200f6f0ULL);
  ROS_STATIC_ASSERT(MD5Sum<sensor_msgs::Image>::static_value2 == 0xf447d0fcd9c64743ULL);
};

template<> struct DataType<cv_bridge::CvImage>
{
  static const char* value() { return DataType<sensor_msgs::Image>::value(); }
  static const char* value(const cv_bridge::CvImage&) { return value(); }
};

template<> struct Definition<cv_bridge::CvImage>
{
  static const char* value() { return Definition<sensor_msgs::Image>::value(); }
  static const char* value(const cv_bridge::CvImage&) { return value(); }
};

template<> struct HasHeader<cv_bridge::CvImage> : TrueType {};

} // namespace ros::message_traits

namespace serialization {

template<> struct Serializer<cv_bridge::CvImage>
{
  
  template<typename Stream>
  inline static void write(Stream& stream, const cv_bridge::CvImage& m)
  {
    stream.next(m.header);
    stream.next((uint32_t)m.image.rows); // height
    stream.next((uint32_t)m.image.cols); // width
    stream.next(m.encoding);
    uint8_t is_bigendian = 0;
    stream.next(is_bigendian);
    stream.next((uint32_t)m.image.step);
    size_t data_size = m.image.step*m.image.rows;
    stream.next((uint32_t)data_size);
    if (data_size > 0)
      memcpy(stream.advance(data_size), m.image.data, data_size);
  }

  template<typename Stream>
  inline static void read(Stream& stream, cv_bridge::CvImage& m)
  {
    stream.next(m.header);
    uint32_t height, width;
    stream.next(height);
    stream.next(width);
    stream.next(m.encoding);
    uint8_t is_bigendian;
    stream.next(is_bigendian);
    uint32_t step, data_size;
    stream.next(step);
    stream.next(data_size);
    int type = cv_bridge::getCvType(m.encoding);
    // Construct matrix pointing to the stream data, then copy it to m.image
    cv::Mat tmp((int)height, (int)width, type, stream.advance(data_size), (size_t)step);
    tmp.copyTo(m.image);
  }

  inline static uint32_t serializedLength(const cv_bridge::CvImage& m)
  {
    size_t data_size = m.image.step*m.image.rows;
    return serializationLength(m.header) + serializationLength(m.encoding) + 17 + data_size;
  }
};

} // namespace ros::serialization

namespace message_operations {

template<> struct Printer<cv_bridge::CvImage>
{
  template<typename Stream>
  static void stream(Stream& s, const std::string& indent, const cv_bridge::CvImage& m)
  {
  }
};

} // namespace ros::message_operations

} // namespace ros

namespace cv_bridge {

inline std::ostream& operator<<(std::ostream& s, const CvImage& m)
{
  ros::message_operations::Printer<CvImage>::stream(s, "", m);
  return s;
}

} // namespace cv_bridge


#endif