00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef FILLIMAGE_HH 00036 #define FILLIMAGE_HH 00037 00038 #include "sensor_msgs/Image.h" 00039 #include "sensor_msgs/image_encodings.h" 00040 00041 namespace sensor_msgs 00042 { 00043 00044 static inline bool fillImage(Image& image, 00045 const std::string& encoding_arg, 00046 uint32_t rows_arg, 00047 uint32_t cols_arg, 00048 uint32_t step_arg, 00049 const void* data_arg) 00050 { 00051 image.encoding = encoding_arg; 00052 image.height = rows_arg; 00053 image.width = cols_arg; 00054 image.step = step_arg; 00055 size_t st0 = (step_arg * rows_arg); 00056 image.data.resize(st0); 00057 memcpy(&image.data[0], data_arg, st0); 00058 00059 image.is_bigendian = 0; 00060 return true; 00061 } 00062 00063 static inline void clearImage(Image& image) 00064 { 00065 image.data.resize(0); 00066 } 00067 } 00068 00069 00070 #endif