Program Listing for File conversion_utils.h
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// Copyright (c) 2024 Fraunhofer IOSB and contributors
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#ifndef CAMERA_ARAVIS2__CONVERSION_UTILS_H_
#define CAMERA_ARAVIS2__CONVERSION_UTILS_H_
// Std
#include <functional>
#include <map>
#include <string>
// ROS
#include <sensor_msgs/image_encodings.hpp>
#include <sensor_msgs/msg/image.hpp>
namespace camera_aravis2
{
// Conversion functions from GenICam to ROS formats
using ConversionFunction = std::function<void(sensor_msgs::msg::Image::SharedPtr& in,
sensor_msgs::msg::Image::SharedPtr& out)>;
[[nodiscard]] bool renameImg(sensor_msgs::msg::Image::SharedPtr& in,
sensor_msgs::msg::Image::SharedPtr& out,
const std::string out_format);
[[nodiscard]] bool shiftImg(sensor_msgs::msg::Image::SharedPtr& in,
sensor_msgs::msg::Image::SharedPtr& out,
const size_t n_digits, const std::string out_format);
[[nodiscard]] bool interleaveImg(sensor_msgs::msg::Image::SharedPtr& in,
sensor_msgs::msg::Image::SharedPtr& out,
const size_t n_digits, const std::string out_format);
[[nodiscard]] bool unpack10p32Img(sensor_msgs::msg::Image::SharedPtr& in,
sensor_msgs::msg::Image::SharedPtr& out,
const std::string out_format);
[[nodiscard]] bool unpack10PackedImg(sensor_msgs::msg::Image::SharedPtr& in,
sensor_msgs::msg::Image::SharedPtr& out,
const std::string out_format);
[[nodiscard]] bool unpack10pMonoImg(sensor_msgs::msg::Image::SharedPtr& in,
sensor_msgs::msg::Image::SharedPtr& out,
const std::string out_format);
[[nodiscard]] bool unpack10PackedMonoImg(sensor_msgs::msg::Image::SharedPtr& in,
sensor_msgs::msg::Image::SharedPtr& out,
const std::string out_format);
[[nodiscard]] bool unpack12pImg(sensor_msgs::msg::Image::SharedPtr& in,
sensor_msgs::msg::Image::SharedPtr& out,
const std::string out_format);
[[nodiscard]] bool unpack12PackedImg(sensor_msgs::msg::Image::SharedPtr& in,
sensor_msgs::msg::Image::SharedPtr& out,
const std::string out_format);
[[nodiscard]] bool unpack565pImg(sensor_msgs::msg::Image::SharedPtr& in,
sensor_msgs::msg::Image::SharedPtr& out,
const std::string out_format);
const std::map<std::string, ConversionFunction> CONVERSIONS_DICTIONARY =
{
// equivalent to official ROS color encodings
{"RGB8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGB8)},
{"RGBa8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGBA8)},
{"RGB16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGB16)},
{"RGBa16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGBA16)},
{"BGR8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BGR8)},
{"BGRa8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BGRA8)},
{"BGR16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BGR16)},
{"BGRa16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BGRA16)},
{"Mono8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO8)},
{"Raw8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO8)},
{"R8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO8)},
{"G8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO8)},
{"B8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO8)},
{"Mono16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO16)},
{"Raw16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO16)},
{"R16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO16)},
{"G16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO16)},
{"B16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO16)},
{"BayerRG8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_RGGB8)},
{"BayerBG8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_BGGR8)},
{"BayerGB8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GBRG8)},
{"BayerGR8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GRBG8)},
{"BayerRG16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_RGGB16)},
{"BayerBG16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_BGGR16)},
{"BayerGB16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GBRG16)},
{"BayerGR16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GRBG16)},
{"YUV422_8_UYVY", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::YUV422)},
{"YUV422_8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::YUV422)},
// non-color contents
{"Data8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::TYPE_8UC1)},
{"Confidence8", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::TYPE_8UC1)},
{"Data8s", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::TYPE_8SC1)},
{"Data16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::TYPE_16UC1)},
{"Confidence16", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::TYPE_16UC1)},
{"Data16s", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::TYPE_16SC1)},
{"Data32s", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::TYPE_32SC1)},
{"Data32f", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::TYPE_32FC1)},
{"Confidence32f", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::TYPE_32FC1)},
{"Data64f", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::TYPE_64FC1)},
// unthrifty formats. Shift away padding Bits for use with ROS.
{"Mono10", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 6,
sensor_msgs::image_encodings::MONO16)},
{"Mono12", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 4,
sensor_msgs::image_encodings::MONO16)},
{"Mono14", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 2,
sensor_msgs::image_encodings::MONO16)},
{"RGB10", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 6,
sensor_msgs::image_encodings::RGB16)},
{"RGB12", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 4,
sensor_msgs::image_encodings::RGB16)},
{"BGR10", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 6,
sensor_msgs::image_encodings::BGR16)},
{"BGR12", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 4,
sensor_msgs::image_encodings::BGR16)},
{"BayerRG10", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 6,
sensor_msgs::image_encodings::BAYER_RGGB16)},
{"BayerBG10", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 6,
sensor_msgs::image_encodings::BAYER_BGGR16)},
{"BayerGB10", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 6,
sensor_msgs::image_encodings::BAYER_GBRG16)},
{"BayerGR10", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 6,
sensor_msgs::image_encodings::BAYER_GRBG16)},
{"BayerRG12", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 4,
sensor_msgs::image_encodings::BAYER_RGGB16)},
{"BayerBG12", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 4,
sensor_msgs::image_encodings::BAYER_BGGR16)},
{"BayerGB12", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 4,
sensor_msgs::image_encodings::BAYER_GBRG16)},
{"BayerGR12", std::bind(&shiftImg, std::placeholders::_1, std::placeholders::_2, 4,
sensor_msgs::image_encodings::BAYER_GRBG16)},
// planar instead pixel-by-pixel encodings
{"RGB8_Planar", std::bind(&interleaveImg, std::placeholders::_1, std::placeholders::_2, 0,
sensor_msgs::image_encodings::RGB8)},
{"RGB10_Planar", std::bind(&interleaveImg, std::placeholders::_1, std::placeholders::_2, 6,
sensor_msgs::image_encodings::RGB16)},
{"RGB12_Planar", std::bind(&interleaveImg, std::placeholders::_1, std::placeholders::_2, 4,
sensor_msgs::image_encodings::RGB16)},
{"RGB16_Planar", std::bind(&interleaveImg, std::placeholders::_1, std::placeholders::_2, 0,
sensor_msgs::image_encodings::RGB16)},
// packed, non-Byte aligned formats
{"Mono10p", std::bind(&unpack10pMonoImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO16)},
{"RGB10p", std::bind(&unpack10p32Img, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGB16)},
{"RGB10p32", std::bind(&unpack10p32Img, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGB16)},
{"RGBa10p", std::bind(&unpack10p32Img, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGBA16)},
{"BGR10p", std::bind(&unpack10p32Img, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BGR16)},
{"BGRa10p", std::bind(&unpack10p32Img, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BGRA16)},
{"BayerRG10p", std::bind(&unpack10pMonoImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_RGGB16)},
{"BayerBG10p", std::bind(&unpack10pMonoImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_BGGR16)},
{"BayerGB10p", std::bind(&unpack10pMonoImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GBRG16)},
{"BayerGR10p", std::bind(&unpack10pMonoImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GRBG16)},
{"Mono12p", std::bind(&unpack12pImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO16)},
{"RGB12p", std::bind(&unpack12pImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGB16)},
{"RGBa12p", std::bind(&unpack12pImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGBA16)},
{"BGR12p", std::bind(&unpack12pImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BGR16)},
{"BGRa12p", std::bind(&unpack12pImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BGRA16)},
{"BayerRG12p", std::bind(&unpack12pImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_RGGB16)},
{"BayerBG12p", std::bind(&unpack12pImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_BGGR16)},
{"BayerGB12p", std::bind(&unpack12pImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GBRG16)},
{"BayerGR12p", std::bind(&unpack12pImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GRBG16)},
{"RGB565p", std::bind(&unpack565pImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGB8)},
{"BGR565p", std::bind(&unpack565pImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BGR8)},
// GigE-Vision specific format naming
{"RGB10V1Packed", std::bind(&unpack10PackedImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGB16)},
{"RGB10V2Packed", std::bind(&unpack10p32Img, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGB16)},
{"RGB12V1Packed", std::bind(&unpack12PackedImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::RGB16)},
{"Mono10Packed", std::bind(&unpack10PackedMonoImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO16)},
{"Mono12Packed", std::bind(&unpack12PackedImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::MONO16)},
{"BayerRG10Packed", std::bind(&unpack10PackedMonoImg,
std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_RGGB16)},
{"BayerBG10Packed", std::bind(&unpack10PackedMonoImg,
std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_BGGR16)},
{"BayerGB10Packed", std::bind(&unpack10PackedMonoImg,
std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GBRG16)},
{"BayerGR10Packed", std::bind(&unpack10PackedMonoImg,
std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GRBG16)},
{"BayerRG12Packed", std::bind(&unpack12PackedImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_RGGB16)},
{"BayerBG12Packed", std::bind(&unpack12PackedImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_BGGR16)},
{"BayerGB12Packed", std::bind(&unpack12PackedImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GBRG16)},
{"BayerGR12Packed", std::bind(&unpack12PackedImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::BAYER_GRBG16)},
{"YUV422Packed", std::bind(&renameImg, std::placeholders::_1, std::placeholders::_2,
sensor_msgs::image_encodings::YUV422)}};
} // end namespace camera_aravis2
#endif // CAMERA_ARAVIS2__CONVERSION_UTILS_H_