Classes
class	CompressedCodec
	Image transport codec corresponding to compressed_image_transport. More...

class	CompressedDepthCodec
	Image transport codec corresponding to compressed_depth_image_transport. More...

struct	CompressedDepthTransportFormat
	Decoded meaning of field `sensor_msgs::CompressedImage::format` for `compressedDepth` transport. More...

struct	CompressedImageContent
	The part of a compressed message that represents the actual image data (i.e. data that can be passed to an external decoder). More...

struct	CompressedTransportFormat
	Decoded meaning of field `sensor_msgs::CompressedImage::format` for `compressed` transport. More...

class	ImageTransportCodec
	Base for all image transport codecs. All codecs have to extend class `ImageTransportCodec` and implement the pure virtual methods `std::string getTransportName() const`, `encode(const sensor_msgs::Image&, const dynamic_reconfigure::Config&) const` and `decode(const topic_tools::ShapeShifter&, const dynamic_reconfigure::Config&) const`. There are other convenience methods provided, but all of them are based on these implementations. More...

class	ImageTransportCodecPlugin
	Basic interface of an image transport codec plugin. More...

class	ImageTransportCodecPluginBase
	Convenience class for implementing image transport codec plugins, which just relays the whole API to a `Codec` library. More...

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

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

enum	CompressedTransportCompressionFormat { CompressedTransportCompressionFormat::JPEG, CompressedTransportCompressionFormat::PNG }
	Compression format of `compressed` codec (JPEG/PNG). More...

Functions
CompressedDepthTransportFormat	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 >	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...

CompressedDepthTransportFormat	extractCompressedDepthTransportFormat (const std::string &imageEncoding, const CompressedDepthTransportCompressionFormat &compressionFormat)
	Create the `CompressedDepthTransportFormat` structure for the given raw image compressed with the given method. More...

cras::expected< CompressedDepthTransportFormat, std::string >	extractCompressedDepthTransportFormat (const std::string &imageEncoding, const std::string &compressionFormat)
	Create the `CompressedDepthTransportFormat` structure for the given raw image compressed with the given method. More...

CompressedTransportFormat	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 >	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...

CompressedTransportFormat	extractCompressedTransportFormat (const std::string &imageEncoding, const CompressedTransportCompressionFormat &compressionFormat)
	Create the `CompressedTransportFormat` structure for the given raw image compressed with the given method. More...

cras::expected< CompressedTransportFormat, std::string >	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< std::pair< cras::optional< CompressedTransportFormat >, cras::optional< CompressedDepthTransportFormat > >, std::string >	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...

std::string	makeCompressedDepthTransportFormat (const CompressedDepthTransportFormat &format)
	Convert the `CompressedDepthTransportFormat` structure into a string to be filled in field `sensor_msgs::CompressedImage::format` using `compressedDepth` transport. More...

std::string	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...

cras::expected< CompressedDepthTransportFormat, std::string >	parseCompressedDepthTransportFormat (const std::string &format)
	Parse the string from field `sensor_msgs::CompressedImage::format` using `compressedDepth` transport into `CompressedDepthTransportFormat` structure. More...

cras::expected< CompressedTransportFormat, std::string >	parseCompressedTransportFormat (const std::string &format)
	Parse the string from field `sensor_msgs::CompressedImage::format` using `compressed` transport into `CompressedTransportFormat` structure. More...

Enumeration Type Documentation

◆ CompressedDepthTransportCompressionFormat

enum image_transport_codecs::CompressedDepthTransportCompressionFormat

strong

Compression format of compressedDepth codec (PNG/RVL). RVL is only usable in Noetic.

Enumerator
PNG	PNG compression format.
RVL	RVL compression format (only usable in Noetic).

Definition at line 107 of file parse_compressed_format.h.

◆ CompressedTransportCompressionFormat

enum image_transport_codecs::CompressedTransportCompressionFormat

strong

Compression format of compressed codec (JPEG/PNG).

Enumerator
JPEG	JPEG compression format.
PNG	PNG compression format.

Definition at line 28 of file parse_compressed_format.h.

Function Documentation

◆ extractCompressedDepthTransportFormat() [1/4]

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.

Parameters

[in]	image	The raw image.
[in]	compressionFormat	The target compression method.

Returns: The CompressedDepthTransportFormat structure corresponding to the given image and compression method.

◆ extractCompressedDepthTransportFormat() [2/4]

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.

Parameters

[in]	image	The raw image.
[in]	compressionFormat	The string version of target compression method (either "png" or "rvl" (only on Noetic)).

Returns: The CompressedDepthTransportFormat structure corresponding to the given image and compression method, or error string if format is invalid.

◆ extractCompressedDepthTransportFormat() [3/4]

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.

Parameters

[in]	imageEncoding	`encoding` field of the raw image.
[in]	compressionFormat	The target compression method.

Returns: The CompressedDepthTransportFormat structure corresponding to the given image and compression method.

◆ extractCompressedDepthTransportFormat() [4/4]

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.

Parameters

[in]	imageEncoding	`encoding` field of the raw image.
[in]	compressionFormat	The string version of target compression method (either "png" or "rvl" (only on Noetic)).

Returns: The CompressedDepthTransportFormat structure corresponding to the given image and compression method, or error string if format is invalid.

◆ extractCompressedTransportFormat() [1/4]

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.

Parameters

[in]	image	The raw image.
[in]	compressionFormat	The target compression method.

Returns: The CompressedTransportFormat structure corresponding to the given image and compression method.

◆ extractCompressedTransportFormat() [2/4]

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.

Parameters

[in]	image	The raw image.
[in]	compressionFormat	The string version of target compression method (either "jpeg" or "png").

Returns: The CompressedTransportFormat structure corresponding to the given image and compression method, or error string if format is invalid.

◆ extractCompressedTransportFormat() [3/4]

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.

Parameters

[in]	imageEncoding	`encoding` field of the raw image.
[in]	compressionFormat	The target compression method.

Returns: The CompressedTransportFormat structure corresponding to the given image and compression method.

◆ extractCompressedTransportFormat() [4/4]

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.

Parameters

[in]	imageEncoding	`encoding` field of the raw image.
[in]	compressionFormat	The string version of target compression method (either "jpeg" or "png").

Returns: The CompressedTransportFormat structure corresponding to the given image and compression method, or error string if format is invalid.

◆ guessAnyCompressedImageTransportFormat()

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.

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.

◆ makeCompressedDepthTransportFormat()

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.

Parameters

[in] format The format to convert.

Returns: The string for the format field.

◆ makeCompressedTransportFormat()

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.

Parameters

[in] format The format to convert.

Returns: The string for the format field.

◆ parseCompressedDepthTransportFormat()

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.

Parameters

[in] format The format field text.

Returns: The parsed CompressedDepthTransportFormat structure or error string.

◆ parseCompressedTransportFormat()

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.

Parameters

[in] format The format field text.

Returns: The parsed structure or error string.

Classes

Enumerations

Functions

Enumeration Type Documentation

◆ CompressedDepthTransportCompressionFormat

◆ CompressedTransportCompressionFormat

Function Documentation

◆ extractCompressedDepthTransportFormat() [1/4]

◆ extractCompressedDepthTransportFormat() [2/4]

◆ extractCompressedDepthTransportFormat() [3/4]

◆ extractCompressedDepthTransportFormat() [4/4]

◆ extractCompressedTransportFormat() [1/4]

◆ extractCompressedTransportFormat() [2/4]

◆ extractCompressedTransportFormat() [3/4]

◆ extractCompressedTransportFormat() [4/4]

◆ guessAnyCompressedImageTransportFormat()

◆ makeCompressedDepthTransportFormat()

◆ makeCompressedTransportFormat()

◆ parseCompressedDepthTransportFormat()

◆ parseCompressedTransportFormat()