compressed_depth_codec.h

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#pragma once

// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague

#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>

namespace cv
{
class Mat;
}

namespace image_transport_codecs
{

class CompressedDepthCodec : public image_transport_codecs::ImageTransportCodec
{
public:
  typedef cras::expected<sensor_msgs::CompressedImage, std::string> EncodeResult;

  explicit CompressedDepthCodec(const cras::LogHelperPtr& logHelper = std::make_shared<cras::NodeLogHelper>());

  ~CompressedDepthCodec() override;

  EncodeResult encode(const sensor_msgs::Image& raw,
                      const compressed_depth_image_transport::CompressedDepthPublisherConfig& config) const;

  ImageTransportCodec::DecodeResult decode(const sensor_msgs::CompressedImage& compressed) const;

  std::string getTransportName() const override;

  ImageTransportCodec::EncodeResult encode(const sensor_msgs::Image& raw,
                                           const dynamic_reconfigure::Config& config) const override;

  ImageTransportCodec::DecodeResult decode(const topic_tools::ShapeShifter& compressed,
                                           const dynamic_reconfigure::Config& config) const override;

  ImageTransportCodec::GetCompressedContentResult getCompressedImageContent(
    const topic_tools::ShapeShifter& compressed, const std::string& matchFormat) const override;

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

  compressed_depth_image_transport::ConfigHeader getCompressionConfig(
    const sensor_msgs::CompressedImage& compressed) const;

  ImageTransportCodec::DecodeResult decodeCompressedDepthImage(const sensor_msgs::CompressedImage& compressed) const;

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

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

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

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

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

}

// //////////
//  C API ///
// //////////

extern "C" 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,
#if COMPRESSED_DEPTH_HAS_RVL == 1
  const char* configFormat,
#endif
  double configDepthMax,
  double configDepthQuantization,
  int configPngLevel,
  cras::allocator_t errorStringAllocator,
  cras::allocator_t logMessagesAllocator
);

extern "C" 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
);

extern "C" bool compressed_depth_codec_has_rvl();