Program Listing for File codec.hpp

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// Copyright (c) 2012, Willow Garage, Inc.
// Copyright (c) 2016, Google, Inc.
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#ifndef COMPRESSED_DEPTH_IMAGE_TRANSPORT__CODEC_HPP_
#define COMPRESSED_DEPTH_IMAGE_TRANSPORT__CODEC_HPP_

#include <string>

#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. Returns a null pointer on bad input.
sensor_msgs::msg::CompressedImage::SharedPtr encodeCompressedDepthImage(
  const sensor_msgs::msg::Image & message,
  const std::string & format = "png",
  double depth_max = 10.0,
  double depth_quantization = 100.0,
  int png_level = 9);
}  // namespace compressed_depth_image_transport

#endif  // COMPRESSED_DEPTH_IMAGE_TRANSPORT__CODEC_HPP_