Program Listing for File processor.hpp

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// Copyright 2008, 2019 Willow Garage, Inc., Andreas Klintberg, Joshua Whitley
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#ifndef IMAGE_PROC__PROCESSOR_HPP_
#define IMAGE_PROC__PROCESSOR_HPP_

#include <string>

#include "image_geometry/pinhole_camera_model.hpp"

#include <sensor_msgs/msg/image.hpp>
#include <opencv2/core/core.hpp>

namespace image_proc
{

struct ImageSet
{
  std::string color_encoding;
  cv::Mat mono;
  cv::Mat rect;
  cv::Mat color;
  cv::Mat rect_color;
};

class Processor
{
public:
  Processor()
  : interpolation_(cv::INTER_LINEAR)
  {
  }

  int interpolation_;

  enum
  {
    MONO       = 1 << 0,
    RECT       = 1 << 1,
    COLOR      = 1 << 2,
    RECT_COLOR = 1 << 3,
    ALL = MONO | RECT | COLOR | RECT_COLOR
  };

  bool process(
    const sensor_msgs::msg::Image::ConstSharedPtr & raw_image,
    const image_geometry::PinholeCameraModel & model,
    ImageSet & output, int flags = ALL) const;
};

}  // namespace image_proc

#endif  // IMAGE_PROC__PROCESSOR_HPP_