/usr/include/sensor_msgs/image_encodings.h is in libsensor-msgs-dev 1.12.5-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 | /*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#ifndef SENSOR_MSGS_IMAGE_ENCODINGS_H
#define SENSOR_MSGS_IMAGE_ENCODINGS_H
#include <stdexcept>
#include <string>
namespace sensor_msgs
{
namespace image_encodings
{
const std::string RGB8 = "rgb8";
const std::string RGBA8 = "rgba8";
const std::string RGB16 = "rgb16";
const std::string RGBA16 = "rgba16";
const std::string BGR8 = "bgr8";
const std::string BGRA8 = "bgra8";
const std::string BGR16 = "bgr16";
const std::string BGRA16 = "bgra16";
const std::string MONO8="mono8";
const std::string MONO16="mono16";
// OpenCV CvMat types
const std::string TYPE_8UC1="8UC1";
const std::string TYPE_8UC2="8UC2";
const std::string TYPE_8UC3="8UC3";
const std::string TYPE_8UC4="8UC4";
const std::string TYPE_8SC1="8SC1";
const std::string TYPE_8SC2="8SC2";
const std::string TYPE_8SC3="8SC3";
const std::string TYPE_8SC4="8SC4";
const std::string TYPE_16UC1="16UC1";
const std::string TYPE_16UC2="16UC2";
const std::string TYPE_16UC3="16UC3";
const std::string TYPE_16UC4="16UC4";
const std::string TYPE_16SC1="16SC1";
const std::string TYPE_16SC2="16SC2";
const std::string TYPE_16SC3="16SC3";
const std::string TYPE_16SC4="16SC4";
const std::string TYPE_32SC1="32SC1";
const std::string TYPE_32SC2="32SC2";
const std::string TYPE_32SC3="32SC3";
const std::string TYPE_32SC4="32SC4";
const std::string TYPE_32FC1="32FC1";
const std::string TYPE_32FC2="32FC2";
const std::string TYPE_32FC3="32FC3";
const std::string TYPE_32FC4="32FC4";
const std::string TYPE_64FC1="64FC1";
const std::string TYPE_64FC2="64FC2";
const std::string TYPE_64FC3="64FC3";
const std::string TYPE_64FC4="64FC4";
// Bayer encodings
const std::string BAYER_RGGB8="bayer_rggb8";
const std::string BAYER_BGGR8="bayer_bggr8";
const std::string BAYER_GBRG8="bayer_gbrg8";
const std::string BAYER_GRBG8="bayer_grbg8";
const std::string BAYER_RGGB16="bayer_rggb16";
const std::string BAYER_BGGR16="bayer_bggr16";
const std::string BAYER_GBRG16="bayer_gbrg16";
const std::string BAYER_GRBG16="bayer_grbg16";
// Miscellaneous
// This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY
// with an 8-bit depth
const std::string YUV422="yuv422";
// Prefixes for abstract image encodings
const std::string ABSTRACT_ENCODING_PREFIXES[] = {
"8UC", "8SC", "16UC", "16SC", "32SC", "32FC", "64FC"};
// Utility functions for inspecting an encoding string
static inline bool isColor(const std::string& encoding)
{
return encoding == RGB8 || encoding == BGR8 ||
encoding == RGBA8 || encoding == BGRA8 ||
encoding == RGB16 || encoding == BGR16 ||
encoding == RGBA16 || encoding == BGRA16;
}
static inline bool isMono(const std::string& encoding)
{
return encoding == MONO8 || encoding == MONO16;
}
static inline bool isBayer(const std::string& encoding)
{
return encoding == BAYER_RGGB8 || encoding == BAYER_BGGR8 ||
encoding == BAYER_GBRG8 || encoding == BAYER_GRBG8 ||
encoding == BAYER_RGGB16 || encoding == BAYER_BGGR16 ||
encoding == BAYER_GBRG16 || encoding == BAYER_GRBG16;
}
static inline bool hasAlpha(const std::string& encoding)
{
return encoding == RGBA8 || encoding == BGRA8 ||
encoding == RGBA16 || encoding == BGRA16;
}
static inline int numChannels(const std::string& encoding)
{
// First do the common-case encodings
if (encoding == MONO8 ||
encoding == MONO16)
return 1;
if (encoding == BGR8 ||
encoding == RGB8 ||
encoding == BGR16 ||
encoding == RGB16)
return 3;
if (encoding == BGRA8 ||
encoding == RGBA8 ||
encoding == BGRA16 ||
encoding == RGBA16)
return 4;
if (encoding == BAYER_RGGB8 ||
encoding == BAYER_BGGR8 ||
encoding == BAYER_GBRG8 ||
encoding == BAYER_GRBG8 ||
encoding == BAYER_RGGB16 ||
encoding == BAYER_BGGR16 ||
encoding == BAYER_GBRG16 ||
encoding == BAYER_GRBG16)
return 1;
// Now all the generic content encodings
// TODO: Rewrite with regex when ROS supports C++11
for (size_t i=0; i < sizeof(ABSTRACT_ENCODING_PREFIXES) / sizeof(*ABSTRACT_ENCODING_PREFIXES); i++)
{
std::string prefix = ABSTRACT_ENCODING_PREFIXES[i];
if (encoding.substr(0, prefix.size()) != prefix)
continue;
if (encoding.size() == prefix.size())
return 1; // ex. 8UC -> 1
int n_channel = atoi(encoding.substr(prefix.size(),
encoding.size() - prefix.size()).c_str()); // ex. 8UC5 -> 5
if (n_channel != 0)
return n_channel; // valid encoding string
}
if (encoding == YUV422)
return 2;
throw std::runtime_error("Unknown encoding " + encoding);
return -1;
}
static inline int bitDepth(const std::string& encoding)
{
if (encoding == MONO16)
return 16;
if (encoding == MONO8 ||
encoding == BGR8 ||
encoding == RGB8 ||
encoding == BGRA8 ||
encoding == RGBA8 ||
encoding == BAYER_RGGB8 ||
encoding == BAYER_BGGR8 ||
encoding == BAYER_GBRG8 ||
encoding == BAYER_GRBG8)
return 8;
if (encoding == MONO16 ||
encoding == BGR16 ||
encoding == RGB16 ||
encoding == BGRA16 ||
encoding == RGBA16 ||
encoding == BAYER_RGGB16 ||
encoding == BAYER_BGGR16 ||
encoding == BAYER_GBRG16 ||
encoding == BAYER_GRBG16)
return 16;
// Now all the generic content encodings
// TODO: Rewrite with regex when ROS supports C++11
for (size_t i=0; i < sizeof(ABSTRACT_ENCODING_PREFIXES) / sizeof(*ABSTRACT_ENCODING_PREFIXES); i++)
{
std::string prefix = ABSTRACT_ENCODING_PREFIXES[i];
if (encoding.substr(0, prefix.size()) != prefix)
continue;
if (encoding.size() == prefix.size())
return atoi(prefix.c_str()); // ex. 8UC -> 8
int n_channel = atoi(encoding.substr(prefix.size(),
encoding.size() - prefix.size()).c_str()); // ex. 8UC10 -> 10
if (n_channel != 0)
return atoi(prefix.c_str()); // valid encoding string
}
if (encoding == YUV422)
return 8;
throw std::runtime_error("Unknown encoding " + encoding);
return -1;
}
}
}
#endif
|