image_transport_codecs.h File Reference

Plugin-based interface for compressing and decompressing images using codec plugins. More...

#include <list>
#include <memory>
#include <string>
#include <unordered_map>
#include <dynamic_reconfigure/Config.h>
#include <pluginlib/class_loader.hpp>
#include <topic_tools/shape_shifter.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/xmlrpc_value_utils.hpp>
#include <cras_topic_tools/shape_shifter.h>
#include <image_transport_codecs/image_transport_codec.h>
#include <image_transport_codecs/image_transport_codec_plugin.h>

Include dependency graph for image_transport_codecs.h:

Go to the source code of this file.

Classes
class	image_transport_codecs::ImageTransportCodecs
	Plugin-based interface for compressing and decompressing images using codec plugins. More...

Namespaces
	image_transport_codecs

Functions
bool	getCompressedImageContents (const char *topicOrCodec, const char *compressedType, const char *compressedMd5sum, size_t compressedDataLength, const uint8_t compressedData[], const char *matchFormat, bool &hasData, cras::allocator_t formatAllocator, cras::allocator_t dataAllocator, cras::allocator_t errorStringAllocator, cras::allocator_t logMessagesAllocator)
	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...
bool	imageTransportCodecsDecode (const char *topicOrCodec, const char *compressedType, const char *compressedMd5sum, 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, size_t serializedConfigLength, const uint8_t serializedConfig[], cras::allocator_t errorStringAllocator, cras::allocator_t logMessagesAllocator)
	Decode the given compressed image using compressed codec with the given config. More...
bool	imageTransportCodecsEncode (const char *topicOrCodec, 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 compressedTypeAllocator, cras::allocator_t md5SumAllocator, cras::allocator_t compressedDataAllocator, size_t serializedConfigLength, const uint8_t serializedConfig[], cras::allocator_t errorStringAllocator, cras::allocator_t logMessagesAllocator)
	C API ///. More...

Detailed Description

Plugin-based interface for compressing and decompressing images using codec plugins.

Author

Martin Pecka

Definition in file image_transport_codecs.h.

Function Documentation

getCompressedImageContents()

bool getCompressedImageContents	(	const char *	topicOrCodec,
		const char *	compressedType,
		const char *	compressedMd5sum,
		size_t	compressedDataLength,
		const uint8_t	compressedData[],
		const char *	matchFormat,
		bool &	hasData,
		cras::allocator_t	formatAllocator,
		cras::allocator_t	dataAllocator,
		cras::allocator_t	errorStringAllocator,
		cras::allocator_t	logMessagesAllocator
	)

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.

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

Parameters

[in]	topicOrCodec	Either the output of a codec's getTransportName(), or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using RawCodecPlugin which you probably do not want.
[in]	compressedType	The string version of the type of the compressed message.
[in]	compressedMd5sum	The MD5 sum of the compressed message.
[in]	compressedDataLength	Length of the compressed image data in bytes.
[in]	compressedData	Bytes of 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.
[out]	hasData	Whether some content data were found in the image.
[in,out]	formatAllocator	Allocator for content format string.
[in,out]	dataAllocator	Allocator for the content 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 function has succeeded. If yes, output parameters are set, formatAllocator and dataAllocator 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::ImageTransportCodecs::getCompressedImageContent().

imageTransportCodecsDecode()

bool imageTransportCodecsDecode	(	const char *	topicOrCodec,
		const char *	compressedType,
		const char *	compressedMd5sum,
		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,
		size_t	serializedConfigLength,
		const uint8_t	serializedConfig[],
		cras::allocator_t	errorStringAllocator,
		cras::allocator_t	logMessagesAllocator
	)

Decode the given compressed image using compressed codec with the given config.

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

Parameters

[in]	topicOrCodec	Either the output of a codec's getTransportName(), or name of a topic from which the compressed message was received (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using RawCodecPlugin which you probably do not want.
[in]	compressedType	The string version of the type of the compressed message.
[in]	compressedMd5sum	The MD5 sum of the compressed message.
[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]	serializedConfigLength	Length of the dynamic_reconfigure::Config serialization.
[in]	serializedConfig	Bytes of the serialized dynamic_reconfigure::Config.
[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::ImageTransportCodecs::decode().

imageTransportCodecsEncode()

bool imageTransportCodecsEncode	(	const char *	topicOrCodec,
		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	compressedTypeAllocator,
		cras::allocator_t	md5SumAllocator,
		cras::allocator_t	compressedDataAllocator,
		size_t	serializedConfigLength,
		const uint8_t	serializedConfig[],
		cras::allocator_t	errorStringAllocator,
		cras::allocator_t	logMessagesAllocator
	)

C API ///.

Encode the given raw image using an automatically determined codec with the given config.

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

Parameters

[in]	topicOrCodec	Either the output of a codec's getTransportName(), or name of a topic where the compressed message will be published (so that it is possible to parse the codec from the topic). Do not pass the raw image topic - that would result in using RawCodecPlugin which you probably do not want.
[in]	rawHeight	Raw image height, that is, number of rows.
[in]	rawWidth	Raw image width, that is, number of columns.
[in]	rawEncoding	Raw image encoding of pixels – channel meaning, ordering, size.
[in]	rawIsBigEndian	Is raw image bigendian?
[in]	rawStep	Raw image full row length in bytes.
[in]	rawDataLength	Length of raw image data in bytes, should be step * rows.
[in]	rawData	The raw image bytes.
[in,out]	compressedTypeAllocator	Allocator for the string version of the type of the compressed message.
[in,out]	md5SumAllocator	Allocator for the MD5 sum of the compressed message.
[in,out]	compressedDataAllocator	Allocator for the byte data of the compressed image.
[in]	serializedConfigLength	Length of the dynamic_reconfigure::Config serialization.
[in]	serializedConfig	Bytes of the serialized dynamic_reconfigure::Config.
[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, compressedFormatAllocator and compressedDataAllocator 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::ImageTransportCodecs::encode().