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thirdparty/ros/include/sensor_msgs/fill_image.h

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+/*********************************************************************
+* Software License Agreement (BSD License)
+* 
+*  Copyright (c) 2008, 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 FILLIMAGE_HH
+#define FILLIMAGE_HH
+
+#include "sensor_msgs/Image.h"
+#include "sensor_msgs/image_encodings.h"
+
+namespace sensor_msgs
+{
+
+  static inline bool fillImage(Image& image,
+                 const std::string& encoding_arg,
+                 uint32_t rows_arg,
+                 uint32_t cols_arg,
+                 uint32_t step_arg,
+                 const void* data_arg)
+  {
+    image.encoding = encoding_arg;
+    image.height   = rows_arg;
+    image.width    = cols_arg;
+    image.step     = step_arg;
+    size_t st0 = (step_arg * rows_arg);
+    image.data.resize(st0);
+    memcpy(&image.data[0], data_arg, st0);
+
+    image.is_bigendian = 0;
+    return true;
+  }
+
+  static inline void clearImage(Image& image)
+  {
+    image.data.resize(0);
+  }
+}
+
+
+#endif