sensor_msgs::CvBridge Class Reference

Old C++ API. Use cv_bridge::CvImage, toCvCopy(), toCvShare() instead. More...

#include <CvBridge.h>

List of all members.

Public Member Functions
bool	fromImage (const Image &rosimg, std::string desired_encoding="passthrough")
IplImage *	imgMsgToCv (sensor_msgs::Image::ConstPtr rosimg, std::string desired_encoding="passthrough")
IplImage *	toIpl ()
Static Public Member Functions
static sensor_msgs::Image::Ptr	cvToImgMsg (const IplImage *source, std::string encoding="passthrough")
static bool	fromIpltoRosImage (const IplImage *source, sensor_msgs::Image &dest, std::string encoding="passthrough")

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Detailed Description

Old C++ API. Use cv_bridge::CvImage, toCvCopy(), toCvShare() instead.

Definition at line 52 of file CvBridge.h.

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Member Function Documentation

static sensor_msgs::Image::Ptr sensor_msgs::CvBridge::cvToImgMsg	(	const IplImage *	source,
		std::string	encoding = "passthrough"
	)			[inline, static]

Convert an OpenCV CvArr type (that is, an IplImage or CvMat) to a ROS sensor_msgs::Image message.

Parameters:

	source	An OpenCV IplImage or CvMat
	encoding	The encoding of the image data, one of the following strings: "passthrough" "rgb8" "rgba8" "bgr8" "bgra8" "mono8" "mono16"

If encoding is "passthrough", then the message has the same encoding as the image's OpenCV type. Otherwise encoding must be one of the strings "rgb8", "bgr8", "rgba8", "bgra8", "mono8" or "mono16", in which case the OpenCV image must have the appropriate type:

• CV_8UC3 (for "rgb8", "bgr8"),
• CV_8UC4 (for "rgba8", "bgra8"),
• CV_8UC1 (for "mono8"), or
• CV_16UC1 (for "mono16")

This function returns a sensor_msgs::Image message on success, or raises CvBridgeException on failure.

Definition at line 405 of file CvBridge.h.

bool sensor_msgs::CvBridge::fromImage	(	const Image &	rosimg,
		std::string	desired_encoding = "passthrough"
	)			[inline]

Converts a ROS Image into an OpenCV IPL Image.

This method will be deprecated and removed in a future release. Use method imgMsgToCv instead.

Parameters:

	rosimg	The ROS Image message
	desired_encoding	image encoding. See method imgMsgToCv for details.

Definition at line 188 of file CvBridge.h.

static bool sensor_msgs::CvBridge::fromIpltoRosImage	(	const IplImage *	source,
		sensor_msgs::Image &	dest,
		std::string	encoding = "passthrough"
	)			[inline, static]

Converts an OpenCV IPL Image into a ROS Image that can be sent 'over the wire'.

This method will be deprecated and removed in a future release. Use method cvToImgMsg instead.

Parameters:

	source	The original Ipl Image that we want to copy from
	dest	The ROS Image message that we want to copy to
	encoding	image encoding. See method cvToImgMsg for details.

Definition at line 307 of file CvBridge.h.

IplImage* sensor_msgs::CvBridge::imgMsgToCv	(	sensor_msgs::Image::ConstPtr	rosimg,
		std::string	desired_encoding = "passthrough"
	)			[inline]

Convert a sensor_msgs::Image message to an OpenCV IplImage.

Parameters:

	rosimg	A sensor_msgs::Image message
	desired_encoding	The encoding of the image data, one of the following strings: "passthrough" "rgb8" "rgba8" "bgr8" "bgra8" "mono8" "mono16"

If desired_encoding is "passthrough", then the returned image has the same format as img_msg. Otherwise desired_encoding must be one of the strings "rgb8", "bgr8", "rgba8", "bgra8", "mono8" or "mono16", in which case this method converts the image using cvCvtColor (http://opencv.willowgarage.com/documentation/image_processing.html#cvCvtColor) (if necessary) and the returned image has a type as follows:

• CV_8UC3 (for "rgb8", "bgr8"),
• CV_8UC4 (for "rgba8", "bgra8"),
• CV_8UC1 (for "mono8"), or
• CV_16UC1 (for "mono16")

This function returns an OpenCV IplImage on success, or raises CvBridgeException on failure.

Definition at line 440 of file CvBridge.h.

IplImage* sensor_msgs::CvBridge::toIpl

(

)

[inline]

Returns the OpenCV IPL Image created by method fromImage.

This method will be deprecated and removed in a future release. Use method imgMsgToCv instead.

Definition at line 175 of file CvBridge.h.

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The documentation for this class was generated from the following file:

• CvBridge.h