88 lines
3.4 KiB
C++
Executable File
88 lines
3.4 KiB
C++
Executable File
/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef COMPRESSION_H_
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#define COMPRESSION_H_
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <rtabmap/utilite/UThread.h>
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#include <opencv2/opencv.hpp>
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namespace rtabmap {
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/**
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* Compress image or data
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*
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* Example compression:
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* cv::Mat image;// an image
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* CompressionThread ct(image);
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* ct.start();
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* ct.join();
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* std::vector<unsigned char> bytes = ct.getCompressedData();
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*
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* Example uncompression
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* std::vector<unsigned char> bytes;// a compressed image
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* CompressionThread ct(bytes);
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* ct.start();
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* ct.join();
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* cv::Mat image = ct.getUncompressedData();
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*/
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class RTABMAP_EXP CompressionThread : public UThread
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{
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public:
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// format : ".png" ".jpg" "" (empty is general)
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CompressionThread(const cv::Mat & mat, const std::string & format = "");
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CompressionThread(const cv::Mat & bytes, bool isImage);
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const cv::Mat & getCompressedData() const {return compressedData_;}
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cv::Mat & getUncompressedData() {return uncompressedData_;}
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protected:
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virtual void mainLoop();
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private:
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cv::Mat compressedData_;
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cv::Mat uncompressedData_;
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std::string format_;
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bool image_;
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bool compressMode_;
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};
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std::vector<unsigned char> RTABMAP_EXP compressImage(const cv::Mat & image, const std::string & format = ".png");
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cv::Mat RTABMAP_EXP compressImage2(const cv::Mat & image, const std::string & format = ".png");
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cv::Mat RTABMAP_EXP uncompressImage(const cv::Mat & bytes);
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cv::Mat RTABMAP_EXP uncompressImage(const std::vector<unsigned char> & bytes);
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std::vector<unsigned char> RTABMAP_EXP compressData(const cv::Mat & data);
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cv::Mat RTABMAP_EXP compressData2(const cv::Mat & data);
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cv::Mat RTABMAP_EXP uncompressData(const cv::Mat & bytes);
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cv::Mat RTABMAP_EXP uncompressData(const std::vector<unsigned char> & bytes);
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cv::Mat RTABMAP_EXP uncompressData(const unsigned char * bytes, unsigned long size);
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} /* namespace rtabmap */
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#endif /* COMPRESSION_H_ */
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