robotics_signals/sensors/
image.rs

1use crate::standard::HeaderFixedSize;
2use serde_derive::{Deserialize, Serialize};
3
4use cdds_derive::*;
5use cyclonedds_rs::*;
6use serde_big_array::BigArray;
7
8/*
9RGB8
10RGBA8
11RGB16
12RGBA16
13BGR8
14BGRA8
15BGR16
16BGRA16
17MONO8
18MONO16
19Type8UC1
20Type8UC2
21Type8UC3
22Type8UC4
23Type8SC1
24Type8SC2
25Type8SC3
26Type8SC4
27Type16UC1
28Type16UC2
29Type16UC3
30Type16UC4
31Type16SC1
32Type16SC2
33Type16SC3
34Type16SC4
35Type32SC1
36Type32SC2
37Type32SC3
38Type32SC4
39Type32FC1
40Type32FC2
41Type32FC3
42Type32FC4
43Type64FC1
44Type64FC2
45Type64FC3
46Type64FC4
47BayerRGGB8
48BayerBGGR8
49BayerGBRG8
50BayerGRBG8
51BayerRGGB16
52BayerBGGR16
53BayerGBRG16
54BayerGRBG16
55*/
56
57#[repr(C)]
58#[derive(Serialize, Deserialize, PartialEq)]
59pub enum Encoding {
60    Unknown,
61    RGB8,
62    RGBA8,
63    RGB16,
64    RGBA16,
65    BGR8,
66    BGRA8,
67    BGR16,
68    BGRA16,
69    MONO8,
70    MONO16,
71    Type8UC1,
72    Type8UC2,
73    Type8UC3,
74    Type8UC4,
75    Type8SC1,
76    Type8SC2,
77    Type8SC3,
78    Type8SC4,
79    Type16UC1,
80    Type16UC2,
81    Type16UC3,
82    Type16UC4,
83    Type16SC1,
84    Type16SC2,
85    Type16SC3,
86    Type16SC4,
87    Type32SC1,
88    Type32SC2,
89    Type32SC3,
90    Type32SC4,
91    Type32FC1,
92    Type32FC2,
93    Type32FC3,
94    Type32FC4,
95    Type64FC1,
96    Type64FC2,
97    Type64FC3,
98    Type64FC4,
99    BayerRGGB8,
100    BayerBGGR8,
101    BayerGBRG8,
102    BayerGRBG8,
103    BayerRGGB16,
104    BayerBGGR16,
105    BayerGBRG16,
106    BayerGrbg16,
107    YUV422,
108}
109
110impl Encoding {
111    pub const fn num_channels(&self) -> usize {
112        match self {
113            Self::MONO16 | Self::MONO8 => 1,
114            Self::BGR8 | Self::RGB8 | Self::BGR16 | Self::RGB16 => 3,
115            Self::BGRA8 | Self::RGBA8 | Self::BGRA16 | Self::RGBA16 => 4,
116            Self::BayerRGGB8
117            | Self::BayerBGGR8
118            | Self::BayerGBRG8
119            | Self::BayerGRBG8
120            | Self::BayerRGGB16
121            | Self::BayerBGGR16
122            | Self::BayerGBRG16
123            | Self::BayerGrbg16 => 1,
124            Self::Type16SC1
125            | Self::Type16UC1
126            | Self::Type32FC1
127            | Self::Type32SC1
128            | Self::Type64FC1
129            | Self::Type8SC1
130            | Self::Type8UC1 => 1,
131            Self::Type16SC2
132            | Self::Type16UC2
133            | Self::Type32FC2
134            | Self::Type32SC2
135            | Self::Type64FC2
136            | Self::Type8SC2
137            | Self::Type8UC2 => 2,
138            Self::Type16SC3
139            | Self::Type16UC3
140            | Self::Type32FC3
141            | Self::Type32SC3
142            | Self::Type64FC3
143            | Self::Type8SC3
144            | Self::Type8UC3 => 3,
145            Self::Type16SC4
146            | Self::Type16UC4
147            | Self::Type32FC4
148            | Self::Type32SC4
149            | Self::Type64FC4
150            | Self::Type8SC4
151            | Self::Type8UC4 => 4,
152            Self::YUV422 => 2,
153            Self::Unknown => 0,
154        }
155    }
156
157    pub fn is_mono(&self) -> bool {
158        *self == Self::MONO16 || *self == Self::MONO8
159    }
160
161    pub fn is_color(&self) -> bool {
162        *self == Self::RGB8
163            || *self == Self::BGR8
164            || *self == Self::RGBA8
165            || *self == Self::BGRA8
166            || *self == Self::RGB16
167            || *self == Self::BGR16
168            || *self == Self::RGBA16
169            || *self == Self::BGRA16
170    }
171
172    pub fn has_alpha(&self) -> bool {
173        *self == Self::RGBA8
174            || *self == Self::BGRA8
175            || *self == Self::RGBA16
176            || *self == Self::BGRA16
177    }
178
179    pub const fn bit_depth(&self) -> usize {
180        match self {
181            Self::MONO16 => 16,
182            Self::MONO8
183            | Self::BGR8
184            | Self::RGB8
185            | Self::BGRA8
186            | Self::RGBA8
187            | Self::BayerRGGB8
188            | Self::BayerBGGR8
189            | Self::BayerGBRG8
190            | Self::BayerGRBG8 => 8,
191            Self::BGR16
192            | Self::RGB16
193            | Self::BGRA16
194            | Self::RGBA16
195            | Self::BayerRGGB16
196            | Self::BayerBGGR16
197            | Self::BayerGBRG16
198            | Self::BayerGrbg16 => 16,
199            Self::YUV422 => 8,
200            Self::Type16SC1 | Self::Type16SC2 | Self::Type16SC3 | Self::Type16SC4 => 16,
201            Self::Type16UC1 | Self::Type16UC2 | Self::Type16UC3 | Self::Type16UC4 => 16,
202            Self::Type32SC1 | Self::Type32SC2 | Self::Type32SC3 | Self::Type32SC4 => 32,
203            Self::Type32FC1 | Self::Type32FC2 | Self::Type32FC3 | Self::Type32FC4 => 32,
204            Self::Type64FC1 | Self::Type64FC2 | Self::Type64FC3 | Self::Type64FC4 => 64,
205            Self::Type8SC1 | Self::Type8SC2 | Self::Type8SC3 | Self::Type8SC4 => 8,
206            Self::Type8UC1 | Self::Type8UC2 | Self::Type8UC3 | Self::Type8UC4 => 8,
207            Self::Unknown => 0,
208        }
209    }
210}
211
212macro_rules! make_image_type {
213    ( $resname:ident, $width:expr, $height:expr, $encoding_type:expr ) => {
214        #[repr(C)]
215        #[derive(Serialize, Deserialize, TopicFixedSize)]
216        pub struct $resname {
217            pub header: HeaderFixedSize,
218            pub width: u32,
219            pub height: u32,
220            pub encoding: Encoding,
221            pub stride: u32,
222            #[serde(with = "BigArray")]
223            pub data:
224                [u8; $width * $height * $encoding_type.num_channels() * $encoding_type.bit_depth()
225                    / 8],
226        }
227
228        impl $resname {
229            //Set the resolution of this fixed size image type
230            pub fn set_resolution(&mut self) {
231                self.width = $width;
232                self.height = $height;
233                self.stride = $width;
234            }
235
236            pub fn initialize(&mut self) {
237                self.set_resolution();
238                self.encoding = $encoding_type;
239            }
240        }
241    };
242}
243
244// All the following Image types are fixed size types that can be transferred via
245// shared memory
246
247make_image_type!(ImageQCIF4BPP, 176, 120, Encoding::RGBA8);
248make_image_type!(ImageCIF4BPP, 352, 240, Encoding::RGBA8);
249make_image_type!(Image3MP4BPP, 2048, 1536, Encoding::RGBA8);
250make_image_type!(Image1080p4BPP, 1920, 1080, Encoding::RGBA8);
251make_image_type!(Image1080pYUV422, 1920, 1080, Encoding::YUV422);
robotics_signals/sensors/image.rs

robotics_signals/sensors/
image.rs
