diff --git a/include/generated/sensor_msgs/distortion_models.h b/include/generated/sensor_msgs/distortion_models.h new file mode 100644 index 0000000..a4c6c90 --- /dev/null +++ b/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 + +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 diff --git a/include/generated/sensor_msgs/image_encodings.h b/include/generated/sensor_msgs/image_encodings.h new file mode 100644 index 0000000..e872bba --- /dev/null +++ b/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 +#include +#include + +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