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// -*-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_