00001 #ifndef VISP_TRACKER_CONVERSION_HH
00002 # define VISP_TRACKER_CONVERSION_HH
00003 # include <boost/optional.hpp>
00004
00005 # include <ros/ros.h>
00006
00007 # include <geometry_msgs/Transform.h>
00008 # include <sensor_msgs/Image.h>
00009 # include <sensor_msgs/CameraInfo.h>
00010 # include <tf/transform_datatypes.h>
00011
00012 # include <visp/vpHomogeneousMatrix.h>
00013 # include <visp/vpCameraParameters.h>
00014 # include <visp/vpMbEdgeTracker.h>
00015 # include <visp/vpMe.h>
00016
00017 # include <visp_tracker/Init.h>
00018 # include <visp_tracker/MovingEdgeConfig.h>
00019
00030 void rosImageToVisp(vpImage<unsigned char>& dst,
00031 const sensor_msgs::Image::ConstPtr& src);
00032
00043 void vispImageToRos(sensor_msgs::Image& dst,
00044 const vpImage<unsigned char>& src);
00045
00046
00047 void vpHomogeneousMatrixToTransform(geometry_msgs::Transform& dst,
00048 const vpHomogeneousMatrix& src);
00049
00050 void transformToVpHomogeneousMatrix(vpHomogeneousMatrix& dst,
00051 const geometry_msgs::Transform& src);
00052
00053 void transformToVpHomogeneousMatrix(vpHomogeneousMatrix& dst,
00054 const tf::Transform& src);
00055
00056 void transformToVpHomogeneousMatrix(vpHomogeneousMatrix& dst,
00057 const geometry_msgs::Pose& src);
00058
00059 void convertMovingEdgeConfigToVpMe(const visp_tracker::MovingEdgeConfig& config,
00060 vpMe& moving_edge,
00061 vpMbEdgeTracker& tracker);
00062
00063 void convertVpMeToMovingEdgeConfig(const vpMe& moving_edge,
00064 const vpMbEdgeTracker& tracker,
00065 visp_tracker::MovingEdgeConfig& config);
00066
00067 void convertVpMeToInitRequest(const vpMe& moving_edge,
00068 const vpMbEdgeTracker& tracker,
00069 visp_tracker::Init& srv);
00070
00071 void convertInitRequestToVpMe(const visp_tracker::Init::Request& req,
00072 vpMbEdgeTracker& tracker,
00073 vpMe& moving_edge);
00074
00075 void initializeVpCameraFromCameraInfo(vpCameraParameters& cam,
00076 sensor_msgs::CameraInfoConstPtr info);
00077
00078 #endif //! VISP_TRACKER_CONVERSION_HH
