parse_compressed_format.h File Reference

Methods for parsing the values of field sensor_msgs::CompressedImage::format for compressed and compressedDepth codecs. More...

#include <string>
#include <utility>
#include <sensor_msgs/Image.h>
#include <cras_cpp_common/c_api.h>
#include <cras_cpp_common/expected.hpp>
#include <cras_cpp_common/optional.hpp>

Include dependency graph for parse_compressed_format.h:

Go to the source code of this file.

Classes
struct	image_transport_codecs::CompressedDepthTransportFormat
	Decoded meaning of field sensor_msgs::CompressedImage::format for compressedDepth transport. More...
struct	image_transport_codecs::CompressedTransportFormat
	Decoded meaning of field sensor_msgs::CompressedImage::format for compressed transport. More...

Namespaces
	image_transport_codecs

Enumerations
enum	image_transport_codecs::CompressedDepthTransportCompressionFormat { image_transport_codecs::CompressedDepthTransportCompressionFormat::PNG, image_transport_codecs::CompressedDepthTransportCompressionFormat::RVL }
	Compression format of compressedDepth codec (PNG/RVL). RVL is only usable in Noetic. More...
enum	image_transport_codecs::CompressedTransportCompressionFormat { image_transport_codecs::CompressedTransportCompressionFormat::JPEG, image_transport_codecs::CompressedTransportCompressionFormat::PNG }
	Compression format of compressed codec (JPEG/PNG). More...

Functions
CompressedDepthTransportFormat	image_transport_codecs::extractCompressedDepthTransportFormat (const std::string &imageEncoding, const CompressedDepthTransportCompressionFormat &compressionFormat)
	Create the CompressedDepthTransportFormat structure for the given raw image compressed with the given method. More...
CompressedDepthTransportFormat	image_transport_codecs::extractCompressedDepthTransportFormat (const sensor_msgs::Image &image, const CompressedDepthTransportCompressionFormat &compressionFormat)
	Create the CompressedDepthTransportFormat structure for the given raw image compressed with the given method. More...
cras::expected< CompressedDepthTransportFormat, std::string >	image_transport_codecs::extractCompressedDepthTransportFormat (const std::string &imageEncoding, const std::string &compressionFormat)
	Create the CompressedDepthTransportFormat structure for the given raw image compressed with the given method. More...
cras::expected< CompressedDepthTransportFormat, std::string >	image_transport_codecs::extractCompressedDepthTransportFormat (const sensor_msgs::Image &image, const std::string &compressionFormat)
	Create the CompressedDepthTransportFormat structure for the given raw image compressed with the given method. More...
bool	extractCompressedDepthTransportFormat (const char *imageEncoding, const char *compressionFormat, int &bitDepth, cras::allocator_t errorStringAllocator)
	Create the compressedDepth transport parameters for the given raw image compressed with the given method. More...
CompressedTransportFormat	image_transport_codecs::extractCompressedTransportFormat (const std::string &imageEncoding, const CompressedTransportCompressionFormat &compressionFormat)
	Create the CompressedTransportFormat structure for the given raw image compressed with the given method. More...
CompressedTransportFormat	image_transport_codecs::extractCompressedTransportFormat (const sensor_msgs::Image &image, const CompressedTransportCompressionFormat &compressionFormat)
	Create the CompressedTransportFormat structure for the given raw image compressed with the given method. More...
cras::expected< CompressedTransportFormat, std::string >	image_transport_codecs::extractCompressedTransportFormat (const std::string &imageEncoding, const std::string &compressionFormat)
	Create the CompressedTransportFormat structure for the given raw image compressed with the given method. More...
cras::expected< CompressedTransportFormat, std::string >	image_transport_codecs::extractCompressedTransportFormat (const sensor_msgs::Image &image, const std::string &compressionFormat)
	Create the CompressedTransportFormat structure for the given raw image compressed with the given method. More...
bool	extractCompressedTransportFormat (const char *imageEncoding, const char *compressionFormat, cras::allocator_t compressedEncodingAllocator, int &numChannels, int &bitDepth, bool &isColor, cras::allocator_t errorStringAllocator)
	Create the compressed transport parameters for the given raw image compressed with the given method. More...
cras::expected< std::pair< cras::optional< CompressedTransportFormat >, cras::optional< CompressedDepthTransportFormat > >, std::string >	image_transport_codecs::guessAnyCompressedImageTransportFormat (const sensor_msgs::CompressedImage &image)
	Parse the string from field sensor_msgs::CompressedImage::format using either compressed or compressedDepth transport. Selection between the two formats is done automatically and it might peek into the first 64 bytes of the compressed byte stream in the image. More...
bool	guessAnyCompressedImageTransportFormat (const char *format, const uint8_t imageHeader[64], bool &isCompressedDepth, cras::allocator_t compressionFormatAllocator, cras::allocator_t rawEncodingAllocator, cras::allocator_t compressedEncodingAllocator, int &numChannels, int &bitDepth, bool &isColor, cras::allocator_t errorStringAllocator)
	Parse the string from field sensor_msgs::CompressedImage::format using either compressed or compressedDepth transport. Selection between the two formats is done automatically and it might peek into the first 64 bytes of the compressed byte stream in the image. More...
std::string	image_transport_codecs::makeCompressedDepthTransportFormat (const CompressedDepthTransportFormat &format)
	Convert the CompressedDepthTransportFormat structure into a string to be filled in field sensor_msgs::CompressedImage::format using compressedDepth transport. More...
bool	makeCompressedDepthTransportFormat (const char *compressionFormat, const char *rawEncoding, int bitDepth, cras::allocator_t formatAllocator, cras::allocator_t errorStringAllocator)
	Convert the compressedDepth transport parameters into a string to be filled in field sensor_msgs::CompressedImage::format. More...
std::string	image_transport_codecs::makeCompressedTransportFormat (const CompressedTransportFormat &format)
	Convert the CompressedTransportFormat structure into a string to be filled in field sensor_msgs::CompressedImage::format of compressed transport image. More...
bool	makeCompressedTransportFormat (const char *compressionFormat, const char *rawEncoding, const char *compressedEncoding, int numChannels, int bitDepth, bool isColor, cras::allocator_t formatAllocator, cras::allocator_t errorStringAllocator)
	Convert the compressed transport parameters into a string to be filled in field sensor_msgs::CompressedImage::format. More...
cras::expected< CompressedDepthTransportFormat, std::string >	image_transport_codecs::parseCompressedDepthTransportFormat (const std::string &format)
	Parse the string from field sensor_msgs::CompressedImage::format using compressedDepth transport into CompressedDepthTransportFormat structure. More...
bool	parseCompressedDepthTransportFormat (const char *format, cras::allocator_t compressionFormatAllocator, cras::allocator_t rawEncodingAllocator, int &bitDepth, cras::allocator_t errorStringAllocator)
	Parse the string from field sensor_msgs::CompressedImage::format using compressedDepth transport into individual components. More...
cras::expected< CompressedTransportFormat, std::string >	image_transport_codecs::parseCompressedTransportFormat (const std::string &format)
	Parse the string from field sensor_msgs::CompressedImage::format using compressed transport into CompressedTransportFormat structure. More...
bool	parseCompressedTransportFormat (const char *format, cras::allocator_t compressionFormatAllocator, cras::allocator_t rawEncodingAllocator, cras::allocator_t compressedEncodingAllocator, int &numChannels, int &bitDepth, bool &isColor, cras::allocator_t errorStringAllocator)
	C API ///. More...

Detailed Description

Methods for parsing the values of field sensor_msgs::CompressedImage::format for compressed and compressedDepth codecs.

Author

Martin Pecka

Definition in file parse_compressed_format.h.

Function Documentation

extractCompressedDepthTransportFormat()

bool extractCompressedDepthTransportFormat	(	const char *	imageEncoding,
		const char *	compressionFormat,
		int &	bitDepth,
		cras::allocator_t	errorStringAllocator
	)

Create the compressedDepth transport parameters for the given raw image compressed with the given method.

Parameters

[in]	imageEncoding	encoding field of the raw image.
[in]	compressionFormat	The compression format ("png" or "rvl").
[out]	bitDepth	Number of bits used for encoding one raw channel value.
[in,out]	errorStringAllocator	Allocator for explanation why the parsing failed (used only in case of failure).

Returns

Whether the extraction succeeded. If not, the output parameters are not valid, and the buffer created using errorStringAllocator contains the explanation why the extraction failed.

extractCompressedTransportFormat()

bool extractCompressedTransportFormat	(	const char *	imageEncoding,
		const char *	compressionFormat,
		cras::allocator_t	compressedEncodingAllocator,
		int &	numChannels,
		int &	bitDepth,
		bool &	isColor,
		cras::allocator_t	errorStringAllocator
	)

Create the compressed transport parameters for the given raw image compressed with the given method.

Parameters

[in]	imageEncoding	encoding field of the raw image.
[in]	compressionFormat	The compression format ("jpeg" or "png").
[in,out]	compressedEncodingAllocator	Allocator for encoding of the compressed image (i.e. bgr8 for JPEG).
[out]	numChannels	Number of channels of the raw image data (1 for mono/depth images, 3-4 for color).
[out]	bitDepth	Number of bits used for encoding one raw channel value.
[out]	isColor	Whether the image is a color image or not.
[in,out]	errorStringAllocator	Allocator for explanation why the parsing failed (used only in case of failure).

Returns

Whether the extraction succeeded. If not, the output parameters are not valid, and the buffer created using errorStringAllocator contains the explanation why the extraction failed.

guessAnyCompressedImageTransportFormat()

bool guessAnyCompressedImageTransportFormat	(	const char *	format,
		const uint8_t	imageHeader[64],
		bool &	isCompressedDepth,
		cras::allocator_t	compressionFormatAllocator,
		cras::allocator_t	rawEncodingAllocator,
		cras::allocator_t	compressedEncodingAllocator,
		int &	numChannels,
		int &	bitDepth,
		bool &	isColor,
		cras::allocator_t	errorStringAllocator
	)

Parse the string from field sensor_msgs::CompressedImage::format using either compressed or compressedDepth transport. Selection between the two formats is done automatically and it might peek into the first 64 bytes of the compressed byte stream in the image.

Parameters

[in]

image

The image whose transport format should be parsed.

Returns

The parsed CompressedTransportFormat or CompressedDepthTransportFormat (exactly one of these two will be valid on success) or error string.

Parameters

[in]	format	The format field text.
[in]	imageHeader	First 64 bytes of the image's data field.
[out]	isCompressedDepth	True if the image should be decoded using compressedDepth transport.
[in,out]	compressionFormatAllocator	Allocator for the compression format ("jpeg", "png" or "rvl").
[in,out]	rawEncodingAllocator	Allocator for encoding of the raw image (before compression).
[in,out]	compressedEncodingAllocator	Allocator for encoding of the compressed image if the format is from compressed codec (i.e. bgr8 for JPEG).
[out]	numChannels	Number of channels of the raw image data (1 for mono/depth images, 3-4 for color).
[out]	bitDepth	Number of bits used for encoding one raw channel value.
[out]	isColor	Whether the image is a color image or not.
[in,out]	errorStringAllocator	Allocator for explanation why the parsing failed (used only in case of failure).

Returns

Whether the parsing succeeded. If not, the output parameters are not valid, and the buffer created using errorStringAllocator contains the explanation why the parsing failed.

makeCompressedDepthTransportFormat()

bool makeCompressedDepthTransportFormat	(	const char *	compressionFormat,
		const char *	rawEncoding,
		int	bitDepth,
		cras::allocator_t	formatAllocator,
		cras::allocator_t	errorStringAllocator
	)

Convert the compressedDepth transport parameters into a string to be filled in field sensor_msgs::CompressedImage::format.

Parameters

[in]	compressionFormat	The compression format ("png" or "rvl").
[in]	rawEncoding	Encoding of the raw image (before compression, after decompression).
[in]	bitDepth	Number of bits used for encoding one raw channel value.
[in,out]	formatAllocator	Allocator for the string for the format field.
[in,out]	errorStringAllocator	Allocator for explanation what failed (used only in case of failure).

Returns

Whether the conversion succeeded. If not, formatAllocator is not used, and the buffer created using errorStringAllocator contains the explanation why the conversion failed.

makeCompressedTransportFormat()

bool makeCompressedTransportFormat	(	const char *	compressionFormat,
		const char *	rawEncoding,
		const char *	compressedEncoding,
		int	numChannels,
		int	bitDepth,
		bool	isColor,
		cras::allocator_t	formatAllocator,
		cras::allocator_t	errorStringAllocator
	)

Convert the compressed transport parameters into a string to be filled in field sensor_msgs::CompressedImage::format.

Parameters

[in]	compressionFormat	The compression format ("jpeg" or "png").
[in]	rawEncoding	Encoding of the raw image (before compression, after decompression).
[in]	compressedEncoding	Encoding of the compressed image (i.e. bgr8 for JPEG).
[in]	numChannels	Number of channels of the raw image data (1 for mono/depth images, 3-4 for color).
[in]	bitDepth	Number of bits used for encoding one raw channel value.
[in]	isColor	Whether the image is a color image or not.
[in,out]	formatAllocator	Allocator for the string for the format field.
[in,out]	errorStringAllocator	Allocator for explanation what failed (used only in case of failure).

Returns

Whether the conversion succeeded. If not, formatAllocator is not used, and the buffer created using errorStringAllocator contains the explanation why the conversion failed.

parseCompressedDepthTransportFormat()

bool parseCompressedDepthTransportFormat	(	const char *	format,
		cras::allocator_t	compressionFormatAllocator,
		cras::allocator_t	rawEncodingAllocator,
		int &	bitDepth,
		cras::allocator_t	errorStringAllocator
	)

Parse the string from field sensor_msgs::CompressedImage::format using compressedDepth transport into individual components.

Parameters

[in]	format	The format field text.
[in,out]	compressionFormatAllocator	Allocator for the compression format ("png" or "rvl").
[in,out]	rawEncodingAllocator	Allocator for encoding of the raw image (before compression, after decompression).
[out]	bitDepth	Number of bits used for encoding one raw channel value.
[in,out]	errorStringAllocator	Allocator for explanation why the parsing failed (used only in case of failure).

Returns

Whether the parsing succeeded. If not, the output parameters are not valid, and the buffer created using errorStringAllocator contains the explanation why the parsing failed.

parseCompressedTransportFormat()

bool parseCompressedTransportFormat	(	const char *	format,
		cras::allocator_t	compressionFormatAllocator,
		cras::allocator_t	rawEncodingAllocator,
		cras::allocator_t	compressedEncodingAllocator,
		int &	numChannels,
		int &	bitDepth,
		bool &	isColor,
		cras::allocator_t	errorStringAllocator
	)

C API ///.

Parse the string from field sensor_msgs::CompressedImage::format using compressed transport into individual components.

Parameters

[in]	format	The format field text.
[in,out]	compressionFormatAllocator	Allocator for the compression format ("jpeg" or "png").
[in,out]	rawEncodingAllocator	Allocator for encoding of the raw image (before compression, after decompression).
[in,out]	compressedEncodingAllocator	Allocator for encoding of the compressed image (i.e. bgr8 for JPEG).
[out]	numChannels	Number of channels of the raw image data (1 for mono/depth images, 3-4 for color).
[out]	bitDepth	Number of bits used for encoding one raw channel value.
[out]	isColor	Whether the image is a color image or not.
[in,out]	errorStringAllocator	Allocator for explanation why the parsing failed (used only in case of failure).

Returns

Whether the parsing succeeded. If not, the output parameters are not valid, and the buffer created using errorStringAllocator contains the explanation why the parsing failed.