From 883707b71842612c7d946630cf800d1d9ac2ab25 Mon Sep 17 00:00:00 2001
From: Emre Kuru <emre.kuru97@hotmail.com>
Date: Fri, 1 Mar 2024 03:35:08 +0300
Subject: [PATCH] add options to cv::imencode, and declare possible function
 signatures for toCompressedImageMsg

---
 cv_bridge/include/cv_bridge/cv_bridge.h | 34 ++++++++++++++++++++++---
 cv_bridge/src/cv_bridge.cpp             | 21 ++++++++++++---
 2 files changed, 48 insertions(+), 7 deletions(-)

diff --git a/cv_bridge/include/cv_bridge/cv_bridge.h b/cv_bridge/include/cv_bridge/cv_bridge.h
index 60f8bfabb..759df0200 100644
--- a/cv_bridge/include/cv_bridge/cv_bridge.h
+++ b/cv_bridge/include/cv_bridge/cv_bridge.h
@@ -117,10 +117,24 @@ class CV_BRIDGE_EXPORT CvImage
    * can be: jpg, jp2, bmp, png, tif at the moment
    * support this format from opencv:
    * http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
+   * params are the options for cv::imencode.
+   * Default value is empty list.
    */
   sensor_msgs::msg::CompressedImage::SharedPtr toCompressedImageMsg(
-    const Format dst_format =
-    JPG) const;
+    const Format dst_format = JPG,
+    const std::vector<int> &params=std::vector<int>()) const;
+
+  /**
+   * dst_format is compress the image to desire format.
+   * Default value is empty string that will convert to jpg format.
+   * can be: jpg, jp2, bmp, png, tif at the moment
+   * support this format from opencv:
+   * http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
+   * params are the options for cv::imencode.
+   * Default value is empty list.
+   */
+  sensor_msgs::msg::CompressedImage::SharedPtr toCompressedImageMsg(
+    const std::vector<int> &params=std::vector<int>(), const Format dst_format = JPG) const;
 
   /**
    * \brief Copy the message data to a ROS sensor_msgs::msg::Image message.
@@ -136,11 +150,25 @@ class CV_BRIDGE_EXPORT CvImage
    * can be: jpg, jp2, bmp, png, tif at the moment
    * support this format from opencv:
    * http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
+   * params are the options for cv::imencode.
+   * Default value is empty list.
    */
   void toCompressedImageMsg(
     sensor_msgs::msg::CompressedImage & ros_image,
-    const Format dst_format = JPG) const;
+    const Format dst_format = JPG, const std::vector<int> &params=std::vector<int>()) const;
 
+  /**
+   * dst_format is compress the image to desire format.
+   * Default value is empty string that will convert to jpg format.
+   * can be: jpg, jp2, bmp, png, tif at the moment
+   * support this format from opencv:
+   * http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)
+   * params are the options for cv::imencode.
+   * Default value is empty list.
+   */
+  void toCompressedImageMsg(
+    sensor_msgs::msg::CompressedImage & ros_image,
+    const std::vector<int> &params=std::vector<int>(), const Format dst_format = JPG) const;
 
   typedef std::shared_ptr<CvImage> Ptr;
   typedef std::shared_ptr<CvImage const> ConstPtr;
diff --git a/cv_bridge/src/cv_bridge.cpp b/cv_bridge/src/cv_bridge.cpp
index 0a2e4f577..611954af5 100644
--- a/cv_bridge/src/cv_bridge.cpp
+++ b/cv_bridge/src/cv_bridge.cpp
@@ -464,15 +464,21 @@ CvImagePtr cvtColor(
 
 /////////////////////////////////////// CompressedImage ///////////////////////////////////////////
 
-sensor_msgs::msg::CompressedImage::SharedPtr CvImage::toCompressedImageMsg(const Format dst_format)
+sensor_msgs::msg::CompressedImage::SharedPtr CvImage::toCompressedImageMsg(const Format dst_format,const std::vector<int> &params)
 const
 {
   sensor_msgs::msg::CompressedImage::SharedPtr ptr =
     std::make_shared<sensor_msgs::msg::CompressedImage>();
-  toCompressedImageMsg(*ptr, dst_format);
+  toCompressedImageMsg(*ptr, dst_format, params);
   return ptr;
 }
 
+sensor_msgs::msg::CompressedImage::SharedPtr CvImage::toCompressedImageMsg(const std::vector<int> &params, const Format dst_format)
+const
+{
+  return toCompressedImageMsg(dst_format, params); 
+}
+
 std::string getFormat(Format format)
 {
   switch (format) {
@@ -511,7 +517,14 @@ std::string getFormat(Format format)
 
 void CvImage::toCompressedImageMsg(
   sensor_msgs::msg::CompressedImage & ros_image,
-  const Format dst_format) const
+  const std::vector<int> &params, const Format dst_format) const
+{
+  toCompressedImageMsg(ros_image, dst_format, params);
+}
+
+void CvImage::toCompressedImageMsg(
+  sensor_msgs::msg::CompressedImage & ros_image,
+  const Format dst_format, const std::vector<int> &params) const
 {
   ros_image.header = header;
   cv::Mat image;
@@ -531,7 +544,7 @@ void CvImage::toCompressedImageMsg(
 
   std::string format = getFormat(dst_format);
   ros_image.format = format;
-  cv::imencode("." + format, image, ros_image.data);
+  cv::imencode("." + format, image, ros_image.data, params);
 }
 
 // Deep copy data, returnee is mutable