#include <cv_bridge/cv_bridge.h>
#include "ensenso_camera/image_utilities.h"
#include <string>
#include <utility>
#include <vector>
#include <ros/ros.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/distortion_models.h>

Include dependency graph for image_utilities.cpp:

Functions
sensor_msgs::ImagePtr	depthImageFromNxLibNode (NxLibItem const &node, std::string const &frame)

void	fillDistortionParamsFromNxLib (NxLibItem const &distortionItem, sensor_msgs::CameraInfoPtr const &info)

std::string	imageEncoding (bool isFloat, int channels, int bytesPerElement)

sensor_msgs::ImagePtr	imageFromNxLibNode (NxLibItem const &node, std::string const &frame)

std::pair< sensor_msgs::ImagePtr, sensor_msgs::ImagePtr >	imagePairFromNxLibNode (const NxLibItem &node, std::string const &frame)

std::vector< std::pair< sensor_msgs::ImagePtr, sensor_msgs::ImagePtr > >	imagePairsFromNxLibNode (const NxLibItem &node, std::string const &frame)

std::vector< sensor_msgs::ImagePtr >	imagesFromNxLibNode (NxLibItem const &node, std::string const &frame)

ros::Time	timestampFromNxLibNode (const NxLibItem &node)

Variables
double const	NXLIB_TIMESTAMP_OFFSET = 11644473600

Function Documentation

sensor_msgs::ImagePtr depthImageFromNxLibNode	(	NxLibItem const &	node,
		std::string const &	frame
	)

Get the z-channel from the calculated point cloud and transform it into a sensor_msgs/Image depth image defined in REP 118 - depth images. The Image has a canonical format (z-values in Meters, float 1-channel image(TYPE_32FC1))

Definition at line 167 of file image_utilities.cpp.

void fillDistortionParamsFromNxLib	(	NxLibItem const &	distortionItem,
		sensor_msgs::CameraInfoPtr const &	info
	)

Gets the corresponding distortion parameters from the Item.

Definition at line 189 of file image_utilities.cpp.

std::string imageEncoding	(	bool	isFloat,
		int	channels,
		int	bytesPerElement
	)

Definition at line 15 of file image_utilities.cpp.

sensor_msgs::ImagePtr imageFromNxLibNode	(	NxLibItem const &	node,
		std::string const &	frame
	)

Convert the given binary NxLib node to a ROS image message.

Definition at line 90 of file image_utilities.cpp.

std::pair<sensor_msgs::ImagePtr, sensor_msgs::ImagePtr> imagePairFromNxLibNode	(	const NxLibItem &	node,
		std::string const &	frame
	)

Definition at line 111 of file image_utilities.cpp.

std::vector<std::pair<sensor_msgs::ImagePtr, sensor_msgs::ImagePtr> > imagePairsFromNxLibNode	(	NxLibItem const &	node,
		std::string const &	frame
	)

Convert the given NxLib node to a set of image pairs.

This function supports different types of image nodes. When the node is an array, it will create an image pair for each entry of the array (this is the case when FlexView is enabled). Otherwise it creates an image pair from the left and right child nodes (as it is the case when FlexView is disabled or not supported by a camera).

Definition at line 120 of file image_utilities.cpp.

std::vector<sensor_msgs::ImagePtr> imagesFromNxLibNode	(	NxLibItem const &	node,
		std::string const &	frame
	)

Definition at line 140 of file image_utilities.cpp.

ros::Time timestampFromNxLibNode ( NxLibItem const & node )

Get the timestamp from an NxLib image node.

Definition at line 159 of file image_utilities.cpp.

Variable Documentation

double const NXLIB_TIMESTAMP_OFFSET = 11644473600

Definition at line 13 of file image_utilities.cpp.

Functions

Variables

Function Documentation

Variable Documentation