ivt_image.h

Go to the documentation of this file.

#ifndef IVT_BRIDGE_IVT_IMAGE_H
#define IVT_BRIDGE_IVT_IMAGE_H

#include <sensor_msgs/Image.h>
#include <opencv2/core/core.hpp>
#include <Image/ByteImage.h>
#include <stdexcept>

namespace ivt_bridge {

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

class IvtImage;

typedef boost::shared_ptr<IvtImage> IvtImagePtr;
typedef boost::shared_ptr<IvtImage const> IvtImageConstPtr;

class IvtImage {
public:
        std_msgs::Header header; 
        std::string encoding; 
        CByteImage *image; 

        ~IvtImage();

        sensor_msgs::ImagePtr toImageMsg() const;

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

protected:
        boost::shared_ptr<void const> tracked_object_; // for sharing ownership, hold on to image message so it doesn't get released

        friend IvtImageConstPtr toIvtShare(const sensor_msgs::Image& source, const boost::shared_ptr<void const>& tracked_object, const std::string& encoding);
};

IvtImagePtr toIvtCopy(const sensor_msgs::ImageConstPtr& source, const std::string& encoding = std::string());

IvtImagePtr toIvtCopy(const sensor_msgs::Image& source, const std::string& encoding = std::string());

IvtImageConstPtr toIvtShare(const sensor_msgs::ImageConstPtr& source, const std::string& encoding = std::string());

IvtImageConstPtr toIvtShare(const sensor_msgs::Image& source, const boost::shared_ptr<void const>& tracked_object, const std::string& encoding = std::string());

//IvtImagePtr cvtColor(const IvtImageConstPtr& source, const std::string& encoding);

int getCvType(const std::string& encoding);

CByteImage::ImageType getIvtType(const std::string& encoding);

} // namespace ivt_bridge


#endif