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IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #ifndef SENSOR_MSGS_IMAGE_ENCODINGS_H 00037 #define SENSOR_MSGS_IMAGE_ENCODINGS_H 00038 00039 #include <stdexcept> 00040 #include <string> 00041 00042 namespace sensor_msgs 00043 { 00044 namespace image_encodings 00045 { 00046 const std::string RGB8 = "rgb8"; 00047 const std::string RGBA8 = "rgba8"; 00048 const std::string RGB16 = "rgb16"; 00049 const std::string RGBA16 = "rgba16"; 00050 const std::string BGR8 = "bgr8"; 00051 const std::string BGRA8 = "bgra8"; 00052 const std::string BGR16 = "bgr16"; 00053 const std::string BGRA16 = "bgra16"; 00054 const std::string MONO8="mono8"; 00055 const std::string MONO16="mono16"; 00056 00057 // OpenCV CvMat types 00058 const std::string TYPE_8UC1="8UC1"; 00059 const std::string TYPE_8UC2="8UC2"; 00060 const std::string TYPE_8UC3="8UC3"; 00061 const std::string TYPE_8UC4="8UC4"; 00062 const std::string TYPE_8SC1="8SC1"; 00063 const std::string TYPE_8SC2="8SC2"; 00064 const std::string TYPE_8SC3="8SC3"; 00065 const std::string TYPE_8SC4="8SC4"; 00066 const std::string TYPE_16UC1="16UC1"; 00067 const std::string TYPE_16UC2="16UC2"; 00068 const std::string TYPE_16UC3="16UC3"; 00069 const std::string TYPE_16UC4="16UC4"; 00070 const std::string TYPE_16SC1="16SC1"; 00071 const std::string TYPE_16SC2="16SC2"; 00072 const std::string TYPE_16SC3="16SC3"; 00073 const std::string TYPE_16SC4="16SC4"; 00074 const std::string TYPE_32SC1="32SC1"; 00075 const std::string TYPE_32SC2="32SC2"; 00076 const std::string TYPE_32SC3="32SC3"; 00077 const std::string TYPE_32SC4="32SC4"; 00078 const std::string TYPE_32FC1="32FC1"; 00079 const std::string TYPE_32FC2="32FC2"; 00080 const std::string TYPE_32FC3="32FC3"; 00081 const std::string TYPE_32FC4="32FC4"; 00082 const std::string TYPE_64FC1="64FC1"; 00083 const std::string TYPE_64FC2="64FC2"; 00084 const std::string TYPE_64FC3="64FC3"; 00085 const std::string TYPE_64FC4="64FC4"; 00086 00087 // Bayer encodings 00088 const std::string BAYER_RGGB8="bayer_rggb8"; 00089 const std::string BAYER_BGGR8="bayer_bggr8"; 00090 const std::string BAYER_GBRG8="bayer_gbrg8"; 00091 const std::string BAYER_GRBG8="bayer_grbg8"; 00092 const std::string BAYER_RGGB16="bayer_rggb16"; 00093 const std::string BAYER_BGGR16="bayer_bggr16"; 00094 const std::string BAYER_GBRG16="bayer_gbrg16"; 00095 const std::string BAYER_GRBG16="bayer_grbg16"; 00096 00097 // Miscellaneous 00098 // This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY 00099 // with an 8-bit depth 00100 const std::string YUV422="yuv422"; 00101 00102 // Utility functions for inspecting an encoding string 00103 static inline bool isColor(const std::string& encoding) 00104 { 00105 return encoding == RGB8 || encoding == BGR8 || 00106 encoding == RGBA8 || encoding == BGRA8 || 00107 encoding == RGB16 || encoding == BGR16 || 00108 encoding == RGBA16 || encoding == BGRA16; 00109 } 00110 00111 static inline bool isMono(const std::string& encoding) 00112 { 00113 return encoding == MONO8 || encoding == MONO16; 00114 } 00115 00116 static inline bool isBayer(const std::string& encoding) 00117 { 00118 return encoding == BAYER_RGGB8 || encoding == BAYER_BGGR8 || 00119 encoding == BAYER_GBRG8 || encoding == BAYER_GRBG8 || 00120 encoding == BAYER_RGGB16 || encoding == BAYER_BGGR16 || 00121 encoding == BAYER_GBRG16 || encoding == BAYER_GRBG16; 00122 } 00123 00124 static inline bool hasAlpha(const std::string& encoding) 00125 { 00126 return encoding == RGBA8 || encoding == BGRA8 || 00127 encoding == RGBA16 || encoding == BGRA16; 00128 } 00129 00130 static inline int numChannels(const std::string& encoding) 00131 { 00132 // First do the common-case encodings 00133 if (encoding == MONO8 || 00134 encoding == MONO16) 00135 return 1; 00136 if (encoding == BGR8 || 00137 encoding == RGB8 || 00138 encoding == BGR16 || 00139 encoding == RGB16) 00140 return 3; 00141 if (encoding == BGRA8 || 00142 encoding == RGBA8 || 00143 encoding == BGRA16 || 00144 encoding == RGBA16) 00145 return 4; 00146 if (encoding == BAYER_RGGB8 || 00147 encoding == BAYER_BGGR8 || 00148 encoding == BAYER_GBRG8 || 00149 encoding == BAYER_GRBG8 || 00150 encoding == BAYER_RGGB16 || 00151 encoding == BAYER_BGGR16 || 00152 encoding == BAYER_GBRG16 || 00153 encoding == BAYER_GRBG16) 00154 return 1; 00155 00156 // Now all the generic content encodings 00157 #define CHECK_CHANNELS(N) \ 00158 if (encoding == TYPE_8UC##N || \ 00159 encoding == TYPE_8SC##N || \ 00160 encoding == TYPE_16UC##N || \ 00161 encoding == TYPE_16SC##N || \ 00162 encoding == TYPE_32SC##N || \ 00163 encoding == TYPE_32FC##N || \ 00164 encoding == TYPE_64FC##N) \ 00165 return N; \ 00166 /***/ 00167 00168 CHECK_CHANNELS(1); 00169 CHECK_CHANNELS(2); 00170 CHECK_CHANNELS(3); 00171 CHECK_CHANNELS(4); 00172 00173 #undef CHECK_CHANNELS 00174 00175 if (encoding == YUV422) 00176 return 2; 00177 00178 throw std::runtime_error("Unknown encoding " + encoding); 00179 return -1; 00180 } 00181 00182 static inline int bitDepth(const std::string& encoding) 00183 { 00184 if (encoding == MONO16) 00185 return 16; 00186 if (encoding == MONO8 || 00187 encoding == BGR8 || 00188 encoding == RGB8 || 00189 encoding == BGRA8 || 00190 encoding == RGBA8 || 00191 encoding == BAYER_RGGB8 || 00192 encoding == BAYER_BGGR8 || 00193 encoding == BAYER_GBRG8 || 00194 encoding == BAYER_GRBG8) 00195 return 8; 00196 00197 if (encoding == MONO16 || 00198 encoding == BGR16 || 00199 encoding == RGB16 || 00200 encoding == BGRA16 || 00201 encoding == RGBA16 || 00202 encoding == BAYER_RGGB16 || 00203 encoding == BAYER_BGGR16 || 00204 encoding == BAYER_GBRG16 || 00205 encoding == BAYER_GRBG16) 00206 return 16; 00207 00208 // B = bits (8, 16, ...), T = type (U, S, F) 00209 #define CHECK_BIT_DEPTH(B, T) \ 00210 if (encoding == TYPE_##B##T##C1 || \ 00211 encoding == TYPE_##B##T##C2 || \ 00212 encoding == TYPE_##B##T##C3 || \ 00213 encoding == TYPE_##B##T##C4) \ 00214 return B; \ 00215 /***/ 00216 00217 CHECK_BIT_DEPTH(8, U); 00218 CHECK_BIT_DEPTH(8, S); 00219 CHECK_BIT_DEPTH(16, U); 00220 CHECK_BIT_DEPTH(16, S); 00221 CHECK_BIT_DEPTH(32, S); 00222 CHECK_BIT_DEPTH(32, F); 00223 CHECK_BIT_DEPTH(64, F); 00224 00225 #undef CHECK_BIT_DEPTH 00226 00227 if (encoding == YUV422) 00228 return 8; 00229 00230 throw std::runtime_error("Unknown encoding " + encoding); 00231 return -1; 00232 } 00233 } 00234 } 00235 00236 #endif