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>

Public Types
typedef boost::shared_ptr< CvImage const >	ConstPtr

typedef boost::shared_ptr< CvImage >	Ptr

Public Member Functions
	CvImage ()
	Empty constructor. More...

	CvImage (const std_msgs::Header &header, const std::string &encoding, const cv::Mat &image=cv::Mat())
	Constructor. More...

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. More...

void	toImageMsg (sensor_msgs::Image &ros_image) const
	Copy the message data to a ROS sensor_msgs::Image message. More...

Public Attributes
std::string	encoding
	Image encoding ("mono8", "bgr8", etc.) More...

std_msgs::Header	header
	ROS header. More...

cv::Mat	image
	Image data for use with OpenCV. More...

Protected Attributes
boost::shared_ptr< void const >	tracked_object_

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.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 132 of file cv_bridge.h.

◆ Ptr

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

Definition at line 131 of file cv_bridge.h.

Constructor & Destructor Documentation

◆ CvImage() [1/2]

cv_bridge::CvImage::CvImage ( )

inline

Empty constructor.

Definition at line 86 of file cv_bridge.h.

◆ CvImage() [2/2]

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.

Member Function Documentation

◆ toCompressedImageMsg() [1/2]

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 437 of file cv_bridge.cpp.

◆ toCompressedImageMsg() [2/2]

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 480 of file cv_bridge.cpp.

◆ toImageMsg() [1/2]

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 355 of file cv_bridge.cpp.

◆ toImageMsg() [2/2]

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 362 of file cv_bridge.cpp.

Member Data Documentation

◆ encoding

std::string cv_bridge::CvImage::encoding

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

Definition at line 80 of file cv_bridge.h.

◆ header

std_msgs::Header cv_bridge::CvImage::header

ROS header.

Definition at line 79 of file cv_bridge.h.

◆ image

cv::Mat cv_bridge::CvImage::image

Image data for use with OpenCV.

Definition at line 81 of file cv_bridge.h.

◆ tracked_object_

boost::shared_ptr<void const> cv_bridge::CvImage::tracked_object_

protected

Definition at line 135 of file cv_bridge.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Attributes