codec.h

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#include <opencv2/core/core.hpp>

#include "sensor_msgs/CompressedImage.h"
#include "sensor_msgs/Image.h"
#include "sensor_msgs/image_encodings.h"

// Encoding and decoding of compressed depth images.
namespace compressed_depth_image_transport
{

// Returns a null pointer on bad input.
sensor_msgs::Image::Ptr decodeCompressedDepthImage(const sensor_msgs::CompressedImage& compressed_image);

// Compress a depth image. The png_compression parameter is passed straight through to
// OpenCV as IMWRITE_PNG_COMPRESSION. Returns a null pointer on bad input.
sensor_msgs::CompressedImage::Ptr encodeCompressedDepthImage(
    const sensor_msgs::Image& message,
    double depth_max,
    double depth_quantization,
    int png_level);

}  // namespace compressed_depth_image_transport