halcon_image.h

Go to the documentation of this file.

#include <sensor_msgs/Image.h>
#include <HalconCpp.h>
#include <stdexcept>

namespace halcon_bridge {

    class Exception: public std::runtime_error {
        public:
            Exception(const std::string& description) :
                std::runtime_error(description) {
            }
    };


    class HalconImage;

    typedef boost::shared_ptr<HalconImage> HalconImagePtr;

    class HalconImage {
        public:
            std_msgs::Header header;
            std::string encoding;
            HalconCpp::HImage *image;

            ~HalconImage();

            sensor_msgs::ImagePtr toImageMsg() const;

            void toImageMsg(sensor_msgs::Image& ros_image) const;
    };


    HalconImagePtr toHalconCopy(const sensor_msgs::ImageConstPtr& source);

    HalconImagePtr toHalconCopy(const sensor_msgs::Image& source);



}