rvl_codec.h

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#ifndef COMPRESSED_DEPTH_IMAGE_TRANSPORT_RVL_CODEC_H_
#define COMPRESSED_DEPTH_IMAGE_TRANSPORT_RVL_CODEC_H_

namespace compressed_depth_image_transport {

class RvlCodec {
 public:
  RvlCodec();
  // Compress input data into output. The size of output can be equal to
  // (1.5 * numPixels + 4) in the worst case.
  int CompressRVL(const unsigned short* input, unsigned char* output,
                  int numPixels);
  // Decompress input data into output. The size of output must be
  // equal to numPixels.
  void DecompressRVL(const unsigned char* input, unsigned short* output,
                     int numPixels);

 private:
  RvlCodec(const RvlCodec&);
  RvlCodec& operator=(const RvlCodec&);

  void EncodeVLE(int value);
  int DecodeVLE();

  int *buffer_;
  int *pBuffer_;
  int word_;
  int nibblesWritten_;
};

}  // namespace compressed_depth_image_transport

#endif  // COMPRESSED_DEPTH_IMAGE_TRANSPORT_RVL_CODEC_H_