fill_image.h

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#ifndef FILLIMAGE_HH
#define FILLIMAGE_HH
 
#include "sensor_msgs/Image.h"
#include "sensor_msgs/image_encodings.h"
 
namespace sensor_msgs
{
 
  static inline bool fillImage(Image& image,
                 const std::string& encoding_arg,
                 uint32_t rows_arg,
                 uint32_t cols_arg,
                 uint32_t step_arg,
                 const void* data_arg)
  {
    image.encoding = encoding_arg;
    image.height   = rows_arg;
    image.width    = cols_arg;
    image.step     = step_arg;
    size_t st0 = (step_arg * rows_arg);
    image.data.resize(st0);
    memcpy(&image.data[0], data_arg, st0);
 
    image.is_bigendian = 0;
    return true;
  }
 
  static inline void clearImage(Image& image)
  {
    image.data.resize(0);
  }
}
 
 
#endif