Added missing headers from sensor_msgs

include/generated/sensor_msgs/distortion_models.h

@@ -0,0 +1,51 @@
+
+/*********************************************************************
+* Software License Agreement (BSD License)
+* 
+*  Copyright (c) 2010, 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_DISTORTION_MODELS_H
+#define SENSOR_MSGS_DISTORTION_MODELS_H
+
+#include <string>
+
+namespace sensor_msgs
+{
+  namespace distortion_models
+  {
+    const std::string PLUMB_BOB = "plumb_bob";
+    const std::string RATIONAL_POLYNOMIAL = "rational_polynomial";
+    const std::string EQUIDISTANT = "equidistant";
+  }
+}
+
+#endif

include/generated/sensor_msgs/image_encodings.h

@@ -0,0 +1,233 @@
+
+/*********************************************************************
+* 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 <cstdlib>
+#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