Program Listing for File compression_common.hpp

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// Copyright (c) 2012, Willow Garage, Inc.
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#ifndef COMPRESSED_DEPTH_IMAGE_TRANSPORT__COMPRESSION_COMMON_HPP_
#define COMPRESSED_DEPTH_IMAGE_TRANSPORT__COMPRESSION_COMMON_HPP_

#include <rclcpp/parameter_value.hpp>
#include <rcl_interfaces/msg/parameter_descriptor.hpp>

namespace compressed_depth_image_transport
{

// Compression formats
enum compressionFormat
{
  UNDEFINED = -1,
  INV_DEPTH
};

// Compression configuration
struct ConfigHeader
{
  // compression format
  compressionFormat format;
  // quantization parameters (used in depth image compression)
  float depthParam[2];
};

using ParameterDescriptor = rcl_interfaces::msg::ParameterDescriptor;
using ParameterValue = rclcpp::ParameterValue;

struct ParameterDefinition
{
  const ParameterValue defaultValue;
  const ParameterDescriptor descriptor;
};

}  // namespace compressed_depth_image_transport

#endif  // COMPRESSED_DEPTH_IMAGE_TRANSPORT__COMPRESSION_COMMON_HPP_