cv_bridge Namespace Reference

Classes
class	CvImage
	Image message class that is interoperable with sensor_msgs/Image but uses a more convenient cv::Mat representation for the image data. More...
class	Exception
Typedefs
typedef boost::shared_ptr < CvImage const >	CvImageConstPtr
typedef boost::shared_ptr < CvImage >	CvImagePtr
Functions
CvImagePtr	cvtColor (const CvImageConstPtr &source, const std::string &encoding)
	Convert a CvImage to another encoding.
int	getCvType (const std::string &encoding)
	Get the OpenCV type enum corresponding to the encoding.
CvImagePtr	toCvCopy (const sensor_msgs::Image &source, const std::string &encoding=std::string())
	Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the image data.
CvImagePtr	toCvCopy (const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
	Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the image data.
CvImageConstPtr	toCvShare (const sensor_msgs::Image &source, const boost::shared_ptr< void const > &tracked_object, const std::string &encoding=std::string())
	Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing the image data if possible.
CvImageConstPtr	toCvShare (const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
	Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing the image data if possible.

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Typedef Documentation

typedef boost::shared_ptr<CvImage const> cv_bridge::CvImageConstPtr

Definition at line 51 of file cv_bridge.h.

typedef boost::shared_ptr<CvImage> cv_bridge::CvImagePtr

Definition at line 48 of file cv_bridge.h.

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Function Documentation

CvImagePtr cv_bridge::cvtColor	(	const CvImageConstPtr &	source,
		const std::string &	encoding
	)

Convert a CvImage to another encoding.

Definition at line 247 of file cv_bridge.cpp.

int cv_bridge::getCvType

(

const std::string &

encoding

)

Get the OpenCV type enum corresponding to the encoding.

For example, "bgr8" -> CV_8UC3.

Definition at line 40 of file cv_bridge.cpp.

CvImagePtr cv_bridge::toCvCopy	(	const sensor_msgs::Image &	source,
		const std::string &	encoding = std::string()
	)

Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the image data.

Parameters:

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

If encoding is the empty string (the default), the returned CvImage has the same encoding as source.

Definition at line 212 of file cv_bridge.cpp.

CvImagePtr cv_bridge::toCvCopy	(	const sensor_msgs::ImageConstPtr &	source,
		const std::string &	encoding = std::string()
	)

Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the image data.

Parameters:

	source	A shared_ptr to a sensor_msgs::Image message
	encoding	The desired encoding of the image data, one of the following strings: "mono8" "bgr8" "bgra8" "rgb8" "rgba8" "mono16"

If encoding is the empty string (the default), the returned CvImage has the same encoding as source.

Definition at line 206 of file cv_bridge.cpp.

CvImageConstPtr cv_bridge::toCvShare	(	const sensor_msgs::Image &	source,
		const boost::shared_ptr< void const > &	tracked_object,
		const std::string &	encoding = std::string()
	)

Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing the image data if possible.

If the source encoding and desired encoding are the same, the returned CvImage will share the image data with source without copying it. The returned CvImage cannot be modified, as that could modify the source data.

This overload is useful when you have a shared_ptr to a message that contains a sensor_msgs::Image, and wish to share ownership with the containing message.

Parameters:

	source	The sensor_msgs::Image message
	tracked_object	A shared_ptr to an object owning the sensor_msgs::Image
	encoding	The desired encoding of the image data, one of the following strings: "mono8" "bgr8" "bgra8" "rgb8" "rgba8" "mono16"

If encoding is the empty string (the default), the returned CvImage has the same encoding as source.

Definition at line 230 of file cv_bridge.cpp.

CvImageConstPtr cv_bridge::toCvShare	(	const sensor_msgs::ImageConstPtr &	source,
		const std::string &	encoding = std::string()
	)

Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing the image data if possible.

If the source encoding and desired encoding are the same, the returned CvImage will share the image data with source without copying it. The returned CvImage cannot be modified, as that could modify the source data.

Parameters:

	source	A shared_ptr to a sensor_msgs::Image message
	encoding	The desired encoding of the image data, one of the following strings: "mono8" "bgr8" "bgra8" "rgb8" "rgba8" "mono16"

If encoding is the empty string (the default), the returned CvImage has the same encoding as source.

Definition at line 224 of file cv_bridge.cpp.