00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage. 00005 * Copyright (c) 2016, Google, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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 #include <opencv2/core/core.hpp> 00037 00038 #include "sensor_msgs/CompressedImage.h" 00039 #include "sensor_msgs/Image.h" 00040 #include "sensor_msgs/image_encodings.h" 00041 00042 // Encoding and decoding of compressed depth images. 00043 namespace compressed_depth_image_transport 00044 { 00045 00046 // Returns a null pointer on bad input. 00047 sensor_msgs::Image::Ptr decodeCompressedDepthImage(const sensor_msgs::CompressedImage& compressed_image); 00048 00049 // Compress a depth image. The png_compression parameter is passed straight through to 00050 // OpenCV as IMWRITE_PNG_COMPRESSION. Returns a null pointer on bad input. 00051 sensor_msgs::CompressedImage::Ptr encodeCompressedDepthImage( 00052 const sensor_msgs::Image& message, 00053 double depth_max, 00054 double depth_quantization, 00055 int png_level); 00056 00057 } // namespace compressed_depth_image_transport