Program Listing for File codec.h

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#include <opencv2/core/core.hpp>

#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/compressed_image.hpp>
#include <sensor_msgs/image_encodings.hpp>

// Encoding and decoding of compressed depth images.
namespace compressed_depth_image_transport
{

// Returns a null pointer on bad input.
sensor_msgs::msg::Image::SharedPtr decodeCompressedDepthImage(
  const sensor_msgs::msg::CompressedImage& compressed_image);

// Compress a depth image. The png_compression parameter is passed straight through to
// OpenCV as IMWRITE_PNG_COMPRESSION. Returns a null pointer on bad input.
sensor_msgs::msg::CompressedImage::SharedPtr encodeCompressedDepthImage(
  const sensor_msgs::msg::Image& message,
  double depth_max = 10.0,
  double depth_quantization = 100.0,
  int png_level = 9);
}  // namespace compressed_depth_image_transport