conversion.hh
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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/vpMbTracker.h>
00015 # include <visp/vpMe.h>
00016 # include <visp/vpKltOpencv.h>
00017 
00018 # include <visp_tracker/Init.h>
00019 # include <visp_tracker/ModelBasedSettingsConfig.h>
00020 
00031 void rosImageToVisp(vpImage<unsigned char>& dst,
00032                     const sensor_msgs::Image::ConstPtr& src);
00033 
00044 void vispImageToRos(sensor_msgs::Image& dst,
00045                     const vpImage<unsigned char>& src);
00046 
00047 
00048 void vpHomogeneousMatrixToTransform(geometry_msgs::Transform& dst,
00049                                     const vpHomogeneousMatrix& src);
00050 
00051 void transformToVpHomogeneousMatrix(vpHomogeneousMatrix& dst,
00052                                     const geometry_msgs::Transform& src);
00053 
00054 void transformToVpHomogeneousMatrix(vpHomogeneousMatrix& dst,
00055                                     const tf::Transform& src);
00056 
00057 void transformToVpHomogeneousMatrix(vpHomogeneousMatrix& dst,
00058                                     const geometry_msgs::Pose& src);
00059 
00060 void convertModelBasedSettingsConfigToVpMe(const visp_tracker::ModelBasedSettingsConfig& config,
00061                                    vpMe& moving_edge,
00062                                    vpMbTracker* tracker);
00063 
00064 void convertVpMeToModelBasedSettingsConfig(const vpMe& moving_edge,
00065                                    const vpMbTracker* tracker,
00066                                    visp_tracker::ModelBasedSettingsConfig& config);
00067 
00068 void convertModelBasedSettingsConfigToVpKltOpencv(const visp_tracker::ModelBasedSettingsConfig& config,
00069            vpKltOpencv& klt,
00070            vpMbTracker* tracker);
00071 
00072 void convertVpKltOpencvToModelBasedSettingsConfig(const vpKltOpencv& klt,
00073            const vpMbTracker* tracker,
00074            visp_tracker::ModelBasedSettingsConfig& config);
00075 
00076 void convertVpMeToInitRequest(const vpMe& moving_edge,
00077                               const vpMbTracker* tracker,
00078                               visp_tracker::Init& srv);
00079 
00080 void convertInitRequestToVpMe(const visp_tracker::Init::Request& req,
00081                               vpMbTracker* tracker,
00082                               vpMe& moving_edge);
00083 
00084 void convertVpKltOpencvToInitRequest(const vpKltOpencv& klt,
00085             const vpMbTracker* tracker,
00086             visp_tracker::Init& srv);
00087 
00088 void convertInitRequestToVpKltOpencv(const visp_tracker::Init::Request& req,
00089             vpMbTracker* tracker,
00090             vpKltOpencv& klt);
00091 
00092 void initializeVpCameraFromCameraInfo(vpCameraParameters& cam,
00093                                       sensor_msgs::CameraInfoConstPtr info);
00094 
00095 #endif //! VISP_TRACKER_CONVERSION_HH


visp_tracker
Author(s): Thomas Moulard
autogenerated on Mon Oct 6 2014 08:40:35