Program Listing for File fill_image.hpp
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// Copyright (c) 2008, Willow Garage, Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the copyright holder nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// This file is originally ported from ROS1:
// https://github.com/ros/common_msgs/blob/89069bc/sensor_msgs/include/sensor_msgs/fill_image.h
#ifndef SENSOR_MSGS__FILL_IMAGE_HPP_
#define SENSOR_MSGS__FILL_IMAGE_HPP_
#include <cstring>
#include <string>
#include "sensor_msgs/msg/image.hpp"
#include "sensor_msgs/image_encodings.hpp"
namespace sensor_msgs
{
static inline bool fillImage(
msg::Image & image,
const std::string & encoding_arg,
uint32_t rows_arg,
uint32_t cols_arg,
uint32_t step_arg,
const void * data_arg)
{
image.encoding = encoding_arg;
image.height = rows_arg;
image.width = cols_arg;
image.step = step_arg;
size_t st0 = (step_arg * rows_arg);
image.data.resize(st0);
std::memcpy(&image.data[0], data_arg, st0);
image.is_bigendian = 0;
return true;
}
static inline void clearImage(msg::Image & image)
{
image.data.resize(0);
}
} // namespace sensor_msgs
#endif // SENSOR_MSGS__FILL_IMAGE_HPP_