cv_bridge::CvImage Class Reference

Image message class that is interoperable with sensor_msgs/Image but uses a more convenient cv::Mat representation for the image data. More...

#include <cv_bridge.h>

List of all members.

Public Types
typedef boost::shared_ptr < CvImage const >	ConstPtr
typedef boost::shared_ptr < CvImage >	Ptr
Public Member Functions
	CvImage ()
	Empty constructor.
	CvImage (const std_msgs::Header &header, const std::string &encoding, const cv::Mat &image=cv::Mat())
	Constructor.
sensor_msgs::CompressedImagePtr	toCompressedImageMsg (const Format dst_format=JPG) const
void	toCompressedImageMsg (sensor_msgs::CompressedImage &ros_image, const Format dst_format=JPG) const
sensor_msgs::ImagePtr	toImageMsg () const
	Convert this message to a ROS sensor_msgs::Image message.
void	toImageMsg (sensor_msgs::Image &ros_image) const
	Copy the message data to a ROS sensor_msgs::Image message.
Public Attributes
std::string	encoding
	Image encoding ("mono8", "bgr8", etc.)
std_msgs::Header	header
	ROS header.
cv::Mat	image
	Image data for use with OpenCV.
Protected Attributes
boost::shared_ptr< void const >	tracked_object_

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Detailed Description

Image message class that is interoperable with sensor_msgs/Image but uses a more convenient cv::Mat representation for the image data.

Definition at line 76 of file cv_bridge.h.

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Member Typedef Documentation

typedef boost::shared_ptr<CvImage const> cv_bridge::CvImage::ConstPtr

Definition at line 132 of file cv_bridge.h.

typedef boost::shared_ptr<CvImage> cv_bridge::CvImage::Ptr

Definition at line 131 of file cv_bridge.h.

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Constructor & Destructor Documentation

cv_bridge::CvImage::CvImage

(

)

[inline]

Empty constructor.

Definition at line 86 of file cv_bridge.h.

cv_bridge::CvImage::CvImage	(	const std_msgs::Header &	header,
		const std::string &	encoding,
		const cv::Mat &	image = cv::Mat()
	)		[inline]

Constructor.

Definition at line 91 of file cv_bridge.h.

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Member Function Documentation

sensor_msgs::CompressedImagePtr cv_bridge::CvImage::toCompressedImageMsg

(

const Format

dst_format = JPG

)

const

dst_format is compress the image to desire format. Default value is empty string that will convert to jpg format. can be: jpg, jp2, bmp, png, tif at the moment support this format from opencv: http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)

Definition at line 438 of file cv_bridge.cpp.

void cv_bridge::CvImage::toCompressedImageMsg	(	sensor_msgs::CompressedImage &	ros_image,
		const Format	dst_format = JPG
	)		const

dst_format is compress the image to desire format. Default value is empty string that will convert to jpg format. can be: jpg, jp2, bmp, png, tif at the moment support this format from opencv: http://docs.opencv.org/modules/highgui/doc/reading_and_writing_images_and_video.html#Mat imread(const string& filename, int flags)

Definition at line 481 of file cv_bridge.cpp.

sensor_msgs::ImagePtr cv_bridge::CvImage::toImageMsg

(

)

const

Convert this message to a ROS sensor_msgs::Image message.

The returned sensor_msgs::Image message contains a copy of the image data.

Definition at line 356 of file cv_bridge.cpp.

void cv_bridge::CvImage::toImageMsg

(

sensor_msgs::Image &

ros_image

)

const

Copy the message data to a ROS sensor_msgs::Image message.

This overload is intended mainly for aggregate messages such as stereo_msgs::DisparityImage, which contains a sensor_msgs::Image as a data member.

Definition at line 363 of file cv_bridge.cpp.

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Member Data Documentation

std::string cv_bridge::CvImage::encoding

Image encoding ("mono8", "bgr8", etc.)

Definition at line 80 of file cv_bridge.h.

std_msgs::Header cv_bridge::CvImage::header

ROS header.

Definition at line 79 of file cv_bridge.h.

cv::Mat cv_bridge::CvImage::image

Image data for use with OpenCV.

Definition at line 81 of file cv_bridge.h.

boost::shared_ptr<void const> cv_bridge::CvImage::tracked_object_ [protected]

Definition at line 135 of file cv_bridge.h.

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The documentation for this class was generated from the following files:

• cv_bridge.h
• cv_bridge.cpp