image_encodings.h

/*********************************************************************
* 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