Image transport codec corresponding to compressed_image_transport. More...

#include <compressed_codec.h>

Inheritance diagram for image_transport_codecs::CompressedCodec:

Public Types
typedef cras::expected< sensor_msgs::CompressedImage, std::string >	EncodeResult
	Result of image encoding. Either a `sensor_msgs::CompressedImage` message, or error message. More...

Public Types inherited from image_transport_codecs::ImageTransportCodec
typedef boost::shared_ptr< const ImageTransportCodec >	ConstPtr
	Shared pointer to `const ImageTransportCodec`. More...

typedef cras::expected< sensor_msgs::Image, std::string >	DecodeResult
	Result of image decoding. Either a `sensor_msgs::Image` holding the raw message, or error message. More...

typedef cras::expected< cras::ShapeShifter, std::string >	EncodeResult
	Result of image encoding. Either a shapeshifter holding the compressed message, or error message. More...

typedef cras::expected< cras::optional< CompressedImageContent >, std::string >	GetCompressedContentResult
	Result of getting the actual compressed image data. More...

typedef boost::shared_ptr< ImageTransportCodec >	Ptr
	Shared pointer to `ImageTransportCodec`. More...

Public Member Functions
	CompressedCodec (const cras::LogHelperPtr &logHelper=std::make_shared< cras::NodeLogHelper >())
	Create an instance of the codec. More...

ImageTransportCodec::DecodeResult	decode (const sensor_msgs::CompressedImage &compressed, const compressed_image_transport::CompressedSubscriberConfig &config) const
	Decode the given compressed image using the given subscriber config. More...

ImageTransportCodec::DecodeResult	decode (const sensor_msgs::CompressedImage &compressed) const
	Decode the given compressed image using the default subscriber config. More...

ImageTransportCodec::DecodeResult	decode (const topic_tools::ShapeShifter &compressed, const dynamic_reconfigure::Config &config) const override
	Decode the given compressed image into a raw image. More...

ImageTransportCodec::DecodeResult	decompressJPEG (const std::vector< uint8_t > &data, const std::string &source_encoding, const std_msgs::Header &header) const
	Fast method to decompress a JPEG image. It does not support PNG images (use `decode()` if you are not sure). More...

EncodeResult	encode (const sensor_msgs::Image &raw, const compressed_image_transport::CompressedPublisherConfig &config) const
	Encode the given raw image using the given publisher config. More...

ImageTransportCodec::EncodeResult	encode (const sensor_msgs::Image &raw, const dynamic_reconfigure::Config &config) const override
	Encode the given raw image into the given shapeshifter object. More...

ImageTransportCodec::GetCompressedContentResult	getCompressedImageContent (const topic_tools::ShapeShifter &compressed, const std::string &matchFormat) const override
	Return the part of the encoded message that represents the actual image data (i.e. the part that can be passed to external decoders or saved to a file). If the codec messages have no such meaning, empty result is returned. More...

ImageTransportCodec::GetCompressedContentResult	getCompressedImageContent (const sensor_msgs::CompressedImage &compressed, const std::string &matchFormat) const
	This function returns the bytes of the actual PNG/RVL image (skipping the codec-specific header). More...

std::string	getTransportName () const override
	Get the name of the codec/transport (used e.g. as topic suffix). More...

	~CompressedCodec () override

Public Member Functions inherited from image_transport_codecs::ImageTransportCodec
DecodeResult	decode (const topic_tools::ShapeShifter &compressed) const
	Decode the given compressed image into a raw image using the default decompression parameters. More...

DecodeResult	decode (const topic_tools::ShapeShifter &compressed, const XmlRpc::XmlRpcValue &config) const
	Decode the given compressed image into a raw image. More...

DecodeResult	decode (const topic_tools::ShapeShifter &compressed, const ros::NodeHandle &nh, const std::string &param) const
	Decode the given compressed image into a raw image. More...

template<typename Config >
DecodeResult	decode (const topic_tools::ShapeShifter &compressed, const Config &config) const
	Decode the given compressed image into a raw image. More...

EncodeResult	encode (const sensor_msgs::Image &raw) const
	Encode the given raw image into the given shapeshifter object using the default compression parameters. More...

EncodeResult	encode (const sensor_msgs::Image &raw, const XmlRpc::XmlRpcValue &config) const
	Encode the given raw image into the given shapeshifter object. More...

EncodeResult	encode (const sensor_msgs::Image &raw, const ros::NodeHandle &nh, const std::string &param) const
	Encode the given raw image into the given shapeshifter object. More...

template<typename Config >
EncodeResult	encode (const sensor_msgs::Image &raw, const Config &config) const
	Encode the given raw image into the given shapeshifter object. More...

GetCompressedContentResult	getCompressedImageContent (const topic_tools::ShapeShifter &compressed) const
	Return the part of the encoded message that represents the actual image data (i.e. the part that can be passed to external decoders or saved to a file). If the codec messages have no such meaning, empty result is returned. More...

	ImageTransportCodec (const cras::LogHelperPtr &logHelper)
	Create an instance of the codec. More...

virtual	~ImageTransportCodec ()

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Private Attributes
std::unique_ptr< CompressedCodecPrivate >	data
	Private implementation data. More...

Additional Inherited Members
Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Detailed Description

Image transport codec corresponding to compressed_image_transport.

This codec exposes the functionality of compressed_image_transport so that it can be used directly without the need to go through running a node and publishing on a topic. E.g.

sensor_msgs::Image raw = ...;
image_transport_codecs::CompressedCodec codec;
auto result = codec.encode(raw);
if (!result)
{
  ROS_ERROR_STREAM("Compression failed: " << result.error());
  return false;
}
sensor_msgs::CompressedImage compressed = result.value();

Definition at line 53 of file compressed_codec.h.

Member Typedef Documentation

◆ EncodeResult

typedef cras::expected<sensor_msgs::CompressedImage, std::string> image_transport_codecs::CompressedCodec::EncodeResult

Result of image encoding. Either a sensor_msgs::CompressedImage message, or error message.

Definition at line 57 of file compressed_codec.h.

Constructor & Destructor Documentation

◆ CompressedCodec()

image_transport_codecs::CompressedCodec::CompressedCodec ( const cras::LogHelperPtr & logHelper = std::make_shared< cras::NodeLogHelper >() )

explicit

Create an instance of the codec.

Parameters

[in] logHelper The logger to use for error messages not directly related to the currently processed image.

◆ ~CompressedCodec()

image_transport_codecs::CompressedCodec::~CompressedCodec ( )

override

Member Function Documentation

◆ decode() [1/3]

ImageTransportCodec::DecodeResult image_transport_codecs::CompressedCodec::decode	(	const sensor_msgs::CompressedImage &	compressed,
		const compressed_image_transport::CompressedSubscriberConfig &	config
	)		const

Decode the given compressed image using the given subscriber config.

Parameters

[in]	compressed	The image to decode.
[in]	config	Configuration of the decoder (corresponds to the dynamic_reconfigure parameters of subscriber).

Returns: The decoded raw image, or an error.

See also: Corresponding C API function: compressedCodecDecode().

◆ decode() [2/3]

ImageTransportCodec::DecodeResult image_transport_codecs::CompressedCodec::decode ( const sensor_msgs::CompressedImage & compressed ) const

Decode the given compressed image using the default subscriber config.

Parameters

[in] compressed The image to decode.

Returns: The decoded raw image, or an error.

See also: Corresponding C API function: compressedCodecDecode().

◆ decode() [3/3]

ImageTransportCodec::DecodeResult image_transport_codecs::CompressedCodec::decode	(	const topic_tools::ShapeShifter &	compressed,
		const dynamic_reconfigure::Config &	config
	)		const

overridevirtual

Decode the given compressed image into a raw image.

Parameters

[in]	compressed	The shapeshifter of the compressed image to be decoded.
[in]	config	Config of the decompression (if it has any parameters).

Returns: The decoded raw image (if decoding succeeds), or an error message.

Implements image_transport_codecs::ImageTransportCodec.

◆ decompressJPEG()

ImageTransportCodec::DecodeResult image_transport_codecs::CompressedCodec::decompressJPEG	(	const std::vector< uint8_t > &	data,
		const std::string &	source_encoding,
		const std_msgs::Header &	header
	)		const

Fast method to decompress a JPEG image. It does not support PNG images (use decode() if you are not sure).

Parameters

[in]	data	The bytes of the JPEG image.
[in]	source_encoding	Color encoding of the raw image.
[in]	header	Header to be added to the output image.

Returns: The decoded raw image, or an error.

◆ encode() [1/2]

EncodeResult image_transport_codecs::CompressedCodec::encode	(	const sensor_msgs::Image &	raw,
		const compressed_image_transport::CompressedPublisherConfig &	config
	)		const

Encode the given raw image using the given publisher config.

Parameters

[in]	raw	The raw image to encode.
[in]	config	Configuration of the encoder (corresponds to the dynamic_reconfigure parameters of publisher).

Returns: The encoded image, or an error.

See also: Corresponding C API function: compressedCodecEncode().

◆ encode() [2/2]

ImageTransportCodec::EncodeResult image_transport_codecs::CompressedCodec::encode	(	const sensor_msgs::Image &	raw,
		const dynamic_reconfigure::Config &	config
	)		const

overridevirtual

Encode the given raw image into the given shapeshifter object.

Parameters

[in]	raw	The input raw image.
[in]	config	Config of the compression (if it has any parameters).

Returns: The output shapeshifter holding the compressed image message (if encoding succeeds), or an error message.

Implements image_transport_codecs::ImageTransportCodec.

◆ getCompressedImageContent() [1/2]

ImageTransportCodec::GetCompressedContentResult image_transport_codecs::CompressedCodec::getCompressedImageContent	(	const topic_tools::ShapeShifter &	compressed,
		const std::string &	matchFormat
	)		const

overridevirtual

Return the part of the encoded message that represents the actual image data (i.e. the part that can be passed to external decoders or saved to a file). If the codec messages have no such meaning, empty result is returned.

Parameters

[in]	compressed	The compressed image.
[in]	matchFormat	If nonempty, the image data is only returned if their `format` field would match the given one. The matching should be case-insensitive.

Returns: If it makes sense, the contained image bytes. If not, empty result. If an error occurred, it is reported as the unexpected result.

Implements image_transport_codecs::ImageTransportCodec.

◆ getCompressedImageContent() [2/2]

ImageTransportCodec::GetCompressedContentResult image_transport_codecs::CompressedCodec::getCompressedImageContent	(	const sensor_msgs::CompressedImage &	compressed,
		const std::string &	matchFormat
	)		const

This function returns the bytes of the actual PNG/RVL image (skipping the codec-specific header).

Parameters

[in]	compressed	The compressed image.
[in]	matchFormat	If nonempty, the image data is only returned if their `format` field would match the given one. The matching should be case-insensitive.

Returns: The contained image bytes.

◆ getTransportName()

std::string image_transport_codecs::CompressedCodec::getTransportName ( ) const

overridevirtual

Get the name of the codec/transport (used e.g. as topic suffix).

Note: This name has to be unique among all defined codecs.

Returns: The transport name.

Implements image_transport_codecs::ImageTransportCodec.

Member Data Documentation

◆ data

std::unique_ptr<CompressedCodecPrivate> image_transport_codecs::CompressedCodec::data

private

Private implementation data.

Definition at line 127 of file compressed_codec.h.

The documentation for this class was generated from the following file:

compressed_codec.h

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ EncodeResult

Constructor & Destructor Documentation

◆ CompressedCodec()

◆ ~CompressedCodec()

Member Function Documentation

◆ decode() [1/3]

◆ decode() [2/3]

◆ decode() [3/3]

◆ decompressJPEG()

◆ encode() [1/2]

◆ encode() [2/2]

◆ getCompressedImageContent() [1/2]

◆ getCompressedImageContent() [2/2]

◆ getTransportName()

Member Data Documentation

◆ data