Image transport codec corresponding to compressed_depth_image_transport. More...

#include <memory>
#include <string>
#include <vector>
#include <dynamic_reconfigure/Config.h>
#include <sensor_msgs/CompressedImage.h>
#include <sensor_msgs/Image.h>
#include <compressed_depth_image_transport/CompressedDepthPublisherConfig.h>
#include <compressed_depth_image_transport/compression_common.h>
#include <cras_cpp_common/c_api.h>
#include <cras_cpp_common/log_utils.h>
#include <cras_cpp_common/log_utils/node.h>
#include <cras_cpp_common/optional.hpp>
#include <cras_cpp_common/span.hpp>
#include <image_transport_codecs/image_transport_codec.h>

Include dependency graph for compressed_depth_codec.h:

Go to the source code of this file.

Classes
class	image_transport_codecs::CompressedDepthCodec
	Image transport codec corresponding to compressed_depth_image_transport. More...

Namespaces
	cv

	image_transport_codecs

Functions
bool	compressed_depth_codec_has_rvl ()
	Whether the RVL encoding is available. This should be false on Melodic and true on Noetic. More...

bool	compressedDepthCodecDecode (const char *compressedFormat, size_t compressedDataLength, const uint8_t compressedData[], sensor_msgs::Image::_height_type &rawHeight, sensor_msgs::Image::_width_type &rawWidth, cras::allocator_t rawEncodingAllocator, sensor_msgs::Image::_is_bigendian_type &rawIsBigEndian, sensor_msgs::Image::_step_type &rawStep, cras::allocator_t rawDataAllocator, cras::allocator_t errorStringAllocator, cras::allocator_t logMessagesAllocator)
	Decode the given compressed image using `compressedDepth` codec. More...

bool	compressedDepthCodecEncode (sensor_msgs::Image::_height_type rawHeight, sensor_msgs::Image::_width_type rawWidth, const char *rawEncoding, sensor_msgs::Image::_is_bigendian_type rawIsBigEndian, sensor_msgs::Image::_step_type rawStep, size_t rawDataLength, const uint8_t rawData[], cras::allocator_t compressedFormatAllocator, cras::allocator_t compressedDataAllocator, double configDepthMax, double configDepthQuantization, int configPngLevel, cras::allocator_t errorStringAllocator, cras::allocator_t logMessagesAllocator)
	Encode the given raw image using `compressedDepth` codec with the given config. More...

Detailed Description

Image transport codec corresponding to compressed_depth_image_transport.

Author: Martin Pecka

Definition in file compressed_depth_codec.h.

Function Documentation

◆ compressed_depth_codec_has_rvl()

bool compressed_depth_codec_has_rvl ( )

Whether the RVL encoding is available. This should be false on Melodic and true on Noetic.

Returns: Whether the RVL encoding is available.

◆ compressedDepthCodecDecode()

bool compressedDepthCodecDecode	(	const char *	compressedFormat,
		size_t	compressedDataLength,
		const uint8_t	compressedData[],
		sensor_msgs::Image::_height_type &	rawHeight,
		sensor_msgs::Image::_width_type &	rawWidth,
		cras::allocator_t	rawEncodingAllocator,
		sensor_msgs::Image::_is_bigendian_type &	rawIsBigEndian,
		sensor_msgs::Image::_step_type &	rawStep,
		cras::allocator_t	rawDataAllocator,
		cras::allocator_t	errorStringAllocator,
		cras::allocator_t	logMessagesAllocator
	)

Decode the given compressed image using compressedDepth codec.

This is a C API to allow interfacing this library from other programming languages. Do not use it in C++.

Parameters

[in]	compressedFormat	The `format` field of the compressed image.
[in]	compressedDataLength	Length of the compressed image data in bytes.
[in]	compressedData	Bytes of the compressed image.
[out]	rawHeight	Raw image height, that is, number of rows.
[out]	rawWidth	Raw image width, that is, number of columns.
[in,out]	rawEncodingAllocator	Allocator for raw image encoding of pixels – channel meaning, ordering, size.
[out]	rawIsBigEndian	Is raw image bigendian?
[out]	rawStep	Raw image full row length in bytes.
[in,out]	rawDataAllocator	Allocator for raw image bytes.
[in,out]	errorStringAllocator	Allocator for error string in case the encoding fails.
[in,out]	logMessagesAllocator	Allocator for log messages to be passed to the calling code. Each allocated message should be properly reported by the native logging mechanism after this call finishes. The messages are serialized `rosgraph_msgs::Log` messages.

Returns: Whether the encoding has succeeded. If yes, output parameters are set, rawEncodingAllocator and rawDataAllocator allocate their buffers and write the output to them. If not, errorStringAllocator allocates its buffer and stores the error string in it.

See also: Corresponding C++ API function: image_transport_codecs::CompressedDepthCodec::decode().

◆ compressedDepthCodecEncode()

bool compressedDepthCodecEncode	(	sensor_msgs::Image::_height_type	rawHeight,
		sensor_msgs::Image::_width_type	rawWidth,
		const char *	rawEncoding,
		sensor_msgs::Image::_is_bigendian_type	rawIsBigEndian,
		sensor_msgs::Image::_step_type	rawStep,
		size_t	rawDataLength,
		const uint8_t	rawData[],
		cras::allocator_t	compressedFormatAllocator,
		cras::allocator_t	compressedDataAllocator,
		double	configDepthMax,
		double	configDepthQuantization,
		int	configPngLevel,
		cras::allocator_t	errorStringAllocator,
		cras::allocator_t	logMessagesAllocator
	)

Encode the given raw image using compressedDepth codec with the given config.