.. _program_listing_file__tmp_ws_src_libcaer_driver_include_libcaer_driver_message_converter.hpp:

Program Listing for File message_converter.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_libcaer_driver_include_libcaer_driver_message_converter.hpp>` (``/tmp/ws/src/libcaer_driver/include/libcaer_driver/message_converter.hpp``)

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.. code-block:: cpp

   // -*-c++-*---------------------------------------------------------------------------------------
   // Copyright 2023 Bernd Pfrommer <bernd.pfrommer@gmail.com>
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef LIBCAER_DRIVER__MESSAGE_CONVERTER_HPP_
   #define LIBCAER_DRIVER__MESSAGE_CONVERTER_HPP_
   
   #include <cstdint>
   #include <event_camera_msgs/msg/event_packet.hpp>
   #include <libcaercpp/events/frame.hpp>
   #include <libcaercpp/events/imu6.hpp>
   #include <libcaercpp/events/polarity.hpp>
   #include <map>
   #include <memory>
   #include <rclcpp/rclcpp.hpp>
   #include <sensor_msgs/msg/image.hpp>
   #include <sensor_msgs/msg/imu.hpp>
   
   // functions for converting libcaer data to ROS format
   
   namespace libcaer_driver
   {
   namespace message_converter
   {
   // returns number of events processed
   size_t convert_polarity_packet(
     event_camera_msgs::msg::EventPacket * msg, const libcaer::events::PolarityEventPacket & packet,
     const rclcpp::Time & baseTime);
   
   size_t convert_polarity_packet_compressed(
     event_camera_msgs::msg::EventPacket * msg, const libcaer::events::PolarityEventPacket & packet,
     const rclcpp::Time & baseTime, uint64_t * sensorTime_0);
   
   size_t convert_frame_packet(
     std::vector<std::unique_ptr<sensor_msgs::msg::Image>> * msgs,
     const libcaer::events::FrameEventPacket & packet, const std::string & frameId,
     const rclcpp::Time & baseTime);
   
   size_t convert_imu6_packet(
     std::vector<std::unique_ptr<sensor_msgs::msg::Imu>> * msgs,
     const libcaer::events::IMU6EventPacket & packet, const std::string & frameId,
     const rclcpp::Time & baseTime);
   
   }  // namespace message_converter
   
   }  // namespace libcaer_driver
   
   #endif  // LIBCAER_DRIVER__MESSAGE_CONVERTER_HPP_