dai::ros::ImageConverter Class Reference

#include <ImageConverter.hpp>

Public Member Functions
ImageMsgs::CameraInfo	calibrationToCameraInfo (dai::CalibrationHandler calibHandler, dai::CameraBoardSocket cameraId, int width=-1, int height=-1, Point2f topLeftPixelId=Point2f(), Point2f bottomRightPixelId=Point2f())
	ImageConverter (const std::string frameName, bool interleaved)
	ImageConverter (bool interleaved)
cv::Mat	rosMsgtoCvMat (ImageMsgs::Image &inMsg)
void	toDaiMsg (const ImageMsgs::Image &inMsg, dai::ImgFrame &outData)
void	toRosMsg (std::shared_ptr< dai::ImgFrame > inData, std::deque< ImageMsgs::Image > &outImageMsgs)
ImagePtr	toRosMsgPtr (std::shared_ptr< dai::ImgFrame > inData)

Private Member Functions
void	interleavedToPlanar (const std::vector< uint8_t > &srcData, std::vector< uint8_t > &destData, int w, int h, int numPlanes, int bpp)
void	planarToInterleaved (const std::vector< uint8_t > &srcData, std::vector< uint8_t > &destData, int w, int h, int numPlanes, int bpp)

Private Attributes
bool	_daiInterleaved
const std::string	_frameName = ""

Static Private Attributes
static std::unordered_map< dai::RawImgFrame::Type, std::string >	encodingEnumMap
static std::unordered_map< dai::RawImgFrame::Type, std::string >	planarEncodingEnumMap

Detailed Description

Definition at line 45 of file ImageConverter.hpp.

Constructor & Destructor Documentation

ImageConverter() [1/2]

dai::ros::ImageConverter::ImageConverter	(	const std::string	frameName,
		bool	interleaved
	)

Definition at line 26 of file ImageConverter.cpp.

ImageConverter() [2/2]

dai::ros::ImageConverter::ImageConverter

(

bool

interleaved

)

Definition at line 24 of file ImageConverter.cpp.

Member Function Documentation

calibrationToCameraInfo()

ImageMsgs::CameraInfo dai::ros::ImageConverter::calibrationToCameraInfo	(	dai::CalibrationHandler	calibHandler,
		dai::CameraBoardSocket	cameraId,
		int	width = -1,
		int	height = -1,
		Point2f	topLeftPixelId = Point2f(),
		Point2f	bottomRightPixelId = Point2f()
	)

Definition at line 257 of file ImageConverter.cpp.

interleavedToPlanar()

void dai::ros::ImageConverter::interleavedToPlanar ( const std::vector< uint8_t > &  srcData, std::vector< uint8_t > &  destData, int  w, int  h, int  numPlanes, int  bpp  )

private

Definition at line 217 of file ImageConverter.cpp.

planarToInterleaved()

void dai::ros::ImageConverter::planarToInterleaved ( const std::vector< uint8_t > &  srcData, std::vector< uint8_t > &  destData, int  w, int  h, int  numPlanes, int  bpp  )

private

Definition at line 194 of file ImageConverter.cpp.

rosMsgtoCvMat()

cv::Mat dai::ros::ImageConverter::rosMsgtoCvMat

(

ImageMsgs::Image &

inMsg

)

TODO(sachin): Add support for ros msg to cv mat since we have some encodings which cv supports but ros doesn't

Definition at line 245 of file ImageConverter.cpp.

toDaiMsg()

void dai::ros::ImageConverter::toDaiMsg	(	const ImageMsgs::Image &	inMsg,
		dai::ImgFrame &	outData
	)

FIXME(sachin) : is this time convertion correct ??? Print the original time and ros time in seconds in ImageFrame::toRosMsg(std::shared_ptr<dai::ImgFrame> inData, ImageMsgs::Image& opMsg) to cross verify..

Definition at line 135 of file ImageConverter.cpp.

toRosMsg()

void dai::ros::ImageConverter::toRosMsg	(	std::shared_ptr< dai::ImgFrame >	inData,
		std::deque< ImageMsgs::Image > &	outImageMsgs
	)

Definition at line 28 of file ImageConverter.cpp.

toRosMsgPtr()

ImagePtr dai::ros::ImageConverter::toRosMsgPtr

(

std::shared_ptr< dai::ImgFrame >

inData

)

Definition at line 181 of file ImageConverter.cpp.

Member Data Documentation

_daiInterleaved

bool dai::ros::ImageConverter::_daiInterleaved

private

Definition at line 73 of file ImageConverter.hpp.

_frameName

const std::string dai::ros::ImageConverter::_frameName = ""

private

Definition at line 75 of file ImageConverter.hpp.

encodingEnumMap

std::unordered_map< dai::RawImgFrame::Type, std::string > dai::ros::ImageConverter::encodingEnumMap

staticprivate

Initial value:

= {{dai::RawImgFrame::Type::YUV422i, "yuv422"},
                                                                                           {dai::RawImgFrame::Type::RGBA8888, "rgba8"},
                                                                                           {dai::RawImgFrame::Type::RGB888i, "rgb8"},
                                                                                           {dai::RawImgFrame::Type::BGR888i, "bgr8"},
                                                                                           {dai::RawImgFrame::Type::GRAY8, "mono8"},
                                                                                           {dai::RawImgFrame::Type::RAW8, "mono8"},
                                                                                           {dai::RawImgFrame::Type::RAW16, "16UC1"},
                                                                                           {dai::RawImgFrame::Type::YUV420p, "YUV420"}}

Definition at line 69 of file ImageConverter.hpp.

planarEncodingEnumMap

std::unordered_map< dai::RawImgFrame::Type, std::string > dai::ros::ImageConverter::planarEncodingEnumMap

staticprivate

Initial value:

= {
    {dai::RawImgFrame::Type::BGR888p, "rgb8"},  
    {dai::RawImgFrame::Type::RGB888p, "rgb8"},
    {dai::RawImgFrame::Type::NV12, "rgb8"},
    {dai::RawImgFrame::Type::YUV420p, "rgb8"}}

Definition at line 70 of file ImageConverter.hpp.

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

• ImageConverter.hpp
• ImageConverter.cpp