Image transport codec corresponding to compressed_depth_image_transport. More...

#include <compressed_depth_codec.h>

Inheritance diagram for image_transport_codecs::CompressedDepthCodec:

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
	CompressedDepthCodec (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
	Decode the given compressed image. 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	decodeCompressedDepthImage (const sensor_msgs::CompressedImage &compressed) const
	Decode the given compressed image. More...

cv::Mat	decodeRVL (const std::vector< uint8_t > &compressed) const
	Decode a RVL-encoded image into a 16UC1 `cv::Mat`. More...

EncodeResult	encode (const sensor_msgs::Image &raw, const compressed_depth_image_transport::CompressedDepthPublisherConfig &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...

EncodeResult	encodeCompressedDepthImage (const sensor_msgs::Image &raw, const std::string &compression_format, double depth_max, double depth_quantization, int png_level) const
	Encode the given raw image using the given quantization and compression config. More...

void	encodeRVL (const cv::Mat &depthImg16UC1, std::vector< uint8_t > &compressed) const
	Encode the given 16UC1 image (i.e. transformed to inverse depth) using RVL. More...

cv::Mat	fromInvDepth (const cv::Mat &invDepthImg, const compressed_depth_image_transport::ConfigHeader &compressionConfig) const
	Convert a 16UC1 inverse-depth-coded image into a float direct-coded image. 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...

compressed_depth_image_transport::ConfigHeader	getCompressionConfig (const sensor_msgs::CompressedImage &compressed) const
	Get the depth quantization parameters used by compression. More...

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

cv::Mat	toInvDepth (const cv::Mat &depthImg, double depth_max, double depth_quantization, compressed_depth_image_transport::ConfigHeader &compressionConfig) const
	Convert a float direct-coded image to 16UC1 inverse-depth-coded image. More...

	~CompressedDepthCodec () 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)

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

Detailed Description

Image transport codec corresponding to compressed_depth_image_transport.

This codec exposes the functionality of compressed_depth_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::CompressedDepthCodec 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 58 of file compressed_depth_codec.h.

Member Typedef Documentation

◆ EncodeResult

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

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

Definition at line 62 of file compressed_depth_codec.h.

Constructor & Destructor Documentation

◆ CompressedDepthCodec()

image_transport_codecs::CompressedDepthCodec::CompressedDepthCodec ( 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.

◆ ~CompressedDepthCodec()

image_transport_codecs::CompressedDepthCodec::~CompressedDepthCodec ( )

override

Member Function Documentation

◆ decode() [1/2]

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

Decode the given compressed image.

Parameters

[in] compressed The image to decode.

Returns: The decoded raw image, or an error.

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

◆ decode() [2/2]

ImageTransportCodec::DecodeResult image_transport_codecs::CompressedDepthCodec::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.

◆ decodeCompressedDepthImage()

ImageTransportCodec::DecodeResult image_transport_codecs::CompressedDepthCodec::decodeCompressedDepthImage ( const sensor_msgs::CompressedImage & compressed ) const

Decode the given compressed image.

Parameters

[in] compressed The image to decode.

Returns: The decoded raw image, or an error.

◆ decodeRVL()

cv::Mat image_transport_codecs::CompressedDepthCodec::decodeRVL ( const std::vector< uint8_t > & compressed ) const

Decode a RVL-encoded image into a 16UC1 cv::Mat.

Parameters

[in] compressed Bytes of a RVL-encoded image.

Returns: 2D matrix representing the decoded raw image.

◆ encode() [1/2]

EncodeResult image_transport_codecs::CompressedDepthCodec::encode	(	const sensor_msgs::Image &	raw,
		const compressed_depth_image_transport::CompressedDepthPublisherConfig &	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: compressedDepthCodecEncode().

◆ encode() [2/2]

ImageTransportCodec::EncodeResult image_transport_codecs::CompressedDepthCodec::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.

◆ encodeCompressedDepthImage()

EncodeResult image_transport_codecs::CompressedDepthCodec::encodeCompressedDepthImage	(	const sensor_msgs::Image &	raw,
		const std::string &	compression_format,
		double	depth_max,
		double	depth_quantization,
		int	png_level
	)		const

Encode the given raw image using the given quantization and compression config.

Parameters

[in]	raw	The raw image to encode.
[in]	compression_format	The compression format (png or rvl).
[in]	depth_max	Maximum depth value in meters (1-100).
[in]	depth_quantization	Depth value at which the sensor accuracy is 1 m (Kinect: >75) (1-150).
[in]	png_level	PNG compression level (if PNG is used) (1-9).

Returns: The encoded image, or an error.

◆ encodeRVL()

void image_transport_codecs::CompressedDepthCodec::encodeRVL	(	const cv::Mat &	depthImg16UC1,
		std::vector< uint8_t > &	compressed
	)		const

Encode the given 16UC1 image (i.e. transformed to inverse depth) using RVL.

Parameters

[in]	depthImg16UC1	2D `cv::Mat` with the image in inverse depth coding.
[out]	compressed	Bytes of the compressed image.

◆ fromInvDepth()

cv::Mat image_transport_codecs::CompressedDepthCodec::fromInvDepth	(	const cv::Mat &	invDepthImg,
		const compressed_depth_image_transport::ConfigHeader &	compressionConfig
	)		const

Convert a 16UC1 inverse-depth-coded image into a float direct-coded image.

Parameters

[in]	invDepthImg	The raw image coded with inverse depth.
[in]	compressionConfig	Quantization settings.

Returns: The raw image coded with direct depth in floats.

◆ getCompressedImageContent() [1/2]

ImageTransportCodec::GetCompressedContentResult image_transport_codecs::CompressedDepthCodec::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::CompressedDepthCodec::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.

◆ getCompressionConfig()

compressed_depth_image_transport::ConfigHeader image_transport_codecs::CompressedDepthCodec::getCompressionConfig ( const sensor_msgs::CompressedImage & compressed ) const

Get the depth quantization parameters used by compression.

Parameters

[in] compressed The compressed image to read the parameters from.

Returns: The depth quantization parameters. If an invalid image (i.e. from a different codec) is passed, the result is undefined.

◆ getTransportName()

std::string image_transport_codecs::CompressedDepthCodec::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.

◆ toInvDepth()

cv::Mat image_transport_codecs::CompressedDepthCodec::toInvDepth	(	const cv::Mat &	depthImg,
		double	depth_max,
		double	depth_quantization,
		compressed_depth_image_transport::ConfigHeader &	compressionConfig
	)		const

Convert a float direct-coded image to 16UC1 inverse-depth-coded image.

Parameters

[in]	depthImg	The raw direct-coded image.
[in]	depth_max	Maximum depth value in meters (1-100).
[in]	depth_quantization	Depth value at which the sensor accuracy is 1 m (Kinect: >75) (1-150).
[out]	compressionConfig	The quantization parameters struct to be written to the beginning of the compressed image.

Returns: The 16UC1 inverse-depth-coded raw image.

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

compressed_depth_codec.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ EncodeResult

Constructor & Destructor Documentation

◆ CompressedDepthCodec()

◆ ~CompressedDepthCodec()

Member Function Documentation

◆ decode() [1/2]

◆ decode() [2/2]

◆ decodeCompressedDepthImage()

◆ decodeRVL()

◆ encode() [1/2]

◆ encode() [2/2]

◆ encodeCompressedDepthImage()

◆ encodeRVL()

◆ fromInvDepth()

◆ getCompressedImageContent() [1/2]

◆ getCompressedImageContent() [2/2]

◆ getCompressionConfig()

◆ getTransportName()

◆ toInvDepth()