rvl_codec.h

Go to the documentation of this file.

#ifndef COMPRESSED_DEPTH_IMAGE_TRANSPORT_RVL_CODEC_H_
#define COMPRESSED_DEPTH_IMAGE_TRANSPORT_RVL_CODEC_H_
 
namespace compressed_depth_image_transport {
 
class RvlCodec {
 public:
  RvlCodec();
  // Compress input data into output. The size of output can be equal to
  // (1.5 * numPixels + 4) in the worst case.
  int CompressRVL(const unsigned short* input, unsigned char* output,
                  int numPixels);
  // Decompress input data into output. The size of output must be
  // equal to numPixels.
  void DecompressRVL(const unsigned char* input, unsigned short* output,
                     int numPixels);
 
 private:
  RvlCodec(const RvlCodec&);
  RvlCodec& operator=(const RvlCodec&);
 
  void EncodeVLE(int value);
  int DecodeVLE();
 
  int *buffer_;
  int *pBuffer_;
  int word_;
  int nibblesWritten_;
};
 
}  // namespace compressed_depth_image_transport
 
#endif  // COMPRESSED_DEPTH_IMAGE_TRANSPORT_RVL_CODEC_H_