image.cpp

Go to the documentation of this file.

/*****************************************************************************
** Includes
*****************************************************************************/

#include <string>
#include "../../include/mm_vision_msgs/image.hpp"

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace mm_vision_msgs {

/*****************************************************************************
** Utilities
*****************************************************************************/

std::string imageType2String(const ImageType& image_type) {
  switch( image_type ) {
    case ( ImageType::QVGA )  : return std::string("QVGA");
    case ( ImageType::CQVGA ) : return std::string("CQVGA");
    case ( ImageType::VGA )   : return std::string("VGA");
    case ( ImageType::CVGA )  : return std::string("CVGA");
    default : return "Unknown";
  }
}

} // namespace mm_vision_msgs

/*****************************************************************************
** Namespaces
*****************************************************************************/

namespace mm_messages {

/*****************************************************************************
** Implementation
*****************************************************************************/
void Message<mm_vision_msgs::ImagePtr>::encode(const mm_vision_msgs::ImagePtr& image, ByteArray& buffer) {
  // we might like to do something more tricky once we can use c++11 here (like std::move) to avoid
  // copying buffers.
  buffer = image->data;
}

mm_vision_msgs::ImagePtr Message<mm_vision_msgs::ImagePtr>::decode(const unsigned char* buffer, const unsigned int& size) {
  mm_vision_msgs::ImagePtr image = std::make_shared<mm_vision_msgs::Image>();
  image->data.assign(buffer, buffer + size); // c++0x buffer+size -> std::end(buffer) instead of size?
  if (size == 76800) { // QVGA
    image->width = 320;
    image->height = 240;
    image->colour = false;
  } else if (size == 153600) { // CQVGA
    image->width = 320;
    image->height = 240;
    image->colour = true;
  } else if (size == 307200) { // VGA
    image->width = 640;
    image->height = 480;
    image->colour = false;
  } else if (size == 614400) { // CVGA
    image->width = 640;
    image->height = 480;
    image->colour = true;
  }
  image->size = size;
  return image;
}


} // namespace mm_messages