conversion.hh File Reference

#include <boost/optional.hpp>
#include <ros/ros.h>
#include <geometry_msgs/Transform.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <tf/transform_datatypes.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpCameraParameters.h>
#include <visp/vpMbTracker.h>
#include <visp/vpMe.h>
#include <visp/vpKltOpencv.h>
#include <visp_tracker/Init.h>
#include <visp_tracker/ModelBasedSettingsConfig.h>

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Functions
void	convertInitRequestToVpKltOpencv (const visp_tracker::Init::Request &req, vpMbTracker *tracker, vpKltOpencv &klt)
void	convertInitRequestToVpMe (const visp_tracker::Init::Request &req, vpMbTracker *tracker, vpMe &moving_edge)
void	convertModelBasedSettingsConfigToVpKltOpencv (const visp_tracker::ModelBasedSettingsConfig &config, vpKltOpencv &klt, vpMbTracker *tracker)
void	convertModelBasedSettingsConfigToVpMe (const visp_tracker::ModelBasedSettingsConfig &config, vpMe &moving_edge, vpMbTracker *tracker)
void	convertVpKltOpencvToInitRequest (const vpKltOpencv &klt, const vpMbTracker *tracker, visp_tracker::Init &srv)
void	convertVpKltOpencvToModelBasedSettingsConfig (const vpKltOpencv &klt, const vpMbTracker *tracker, visp_tracker::ModelBasedSettingsConfig &config)
void	convertVpMeToInitRequest (const vpMe &moving_edge, const vpMbTracker *tracker, visp_tracker::Init &srv)
void	convertVpMeToModelBasedSettingsConfig (const vpMe &moving_edge, const vpMbTracker *tracker, visp_tracker::ModelBasedSettingsConfig &config)
void	initializeVpCameraFromCameraInfo (vpCameraParameters &cam, sensor_msgs::CameraInfoConstPtr info)
void	rosImageToVisp (vpImage< unsigned char > &dst, const sensor_msgs::Image::ConstPtr &src)
	Convert a ROS image into a ViSP one.
void	transformToVpHomogeneousMatrix (vpHomogeneousMatrix &dst, const geometry_msgs::Transform &src)
void	transformToVpHomogeneousMatrix (vpHomogeneousMatrix &dst, const tf::Transform &src)
void	transformToVpHomogeneousMatrix (vpHomogeneousMatrix &dst, const geometry_msgs::Pose &src)
void	vispImageToRos (sensor_msgs::Image &dst, const vpImage< unsigned char > &src)
	Convert a ViSP image into a ROS one.
void	vpHomogeneousMatrixToTransform (geometry_msgs::Transform &dst, const vpHomogeneousMatrix &src)

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Function Documentation

void convertInitRequestToVpKltOpencv	(	const visp_tracker::Init::Request &	req,
		vpMbTracker *	tracker,
		vpKltOpencv &	klt
	)

Definition at line 319 of file conversion.cpp.

void convertInitRequestToVpMe	(	const visp_tracker::Init::Request &	req,
		vpMbTracker *	tracker,
		vpMe &	moving_edge
	)

Definition at line 276 of file conversion.cpp.

void convertModelBasedSettingsConfigToVpKltOpencv	(	const visp_tracker::ModelBasedSettingsConfig &	config,
		vpKltOpencv &	klt,
		vpMbTracker *	tracker
	)

Definition at line 212 of file conversion.cpp.

void convertModelBasedSettingsConfigToVpMe	(	const visp_tracker::ModelBasedSettingsConfig &	config,
		vpMe &	moving_edge,
		vpMbTracker *	tracker
	)

Definition at line 159 of file conversion.cpp.

void convertVpKltOpencvToInitRequest	(	const vpKltOpencv &	klt,
		const vpMbTracker *	tracker,
		visp_tracker::Init &	srv
	)

Definition at line 300 of file conversion.cpp.

void convertVpKltOpencvToModelBasedSettingsConfig	(	const vpKltOpencv &	klt,
		const vpMbTracker *	tracker,
		visp_tracker::ModelBasedSettingsConfig &	config
	)

Definition at line 233 of file conversion.cpp.

void convertVpMeToInitRequest	(	const vpMe &	moving_edge,
		const vpMbTracker *	tracker,
		visp_tracker::Init &	srv
	)

Definition at line 252 of file conversion.cpp.

void convertVpMeToModelBasedSettingsConfig	(	const vpMe &	moving_edge,
		const vpMbTracker *	tracker,
		visp_tracker::ModelBasedSettingsConfig &	config
	)

Definition at line 188 of file conversion.cpp.

void initializeVpCameraFromCameraInfo	(	vpCameraParameters &	cam,
		sensor_msgs::CameraInfoConstPtr	info
	)

Definition at line 338 of file conversion.cpp.

void rosImageToVisp	(	vpImage< unsigned char > &	dst,
		const sensor_msgs::Image::ConstPtr &	src
	)

Convert a ROS image into a ViSP one.

This function copy a ROS image into a ViSP image. If the size are not matching, the ViSP image will be resized.

Warning:

Some encodings only are supported.

Parameters:

dst	ViSP destination image
src	ROS source image

Definition at line 26 of file conversion.cpp.

void transformToVpHomogeneousMatrix	(	vpHomogeneousMatrix &	dst,
		const geometry_msgs::Transform &	src
	)

Definition at line 108 of file conversion.cpp.

void transformToVpHomogeneousMatrix	(	vpHomogeneousMatrix &	dst,
		const tf::Transform &	src
	)

Definition at line 145 of file conversion.cpp.

void transformToVpHomogeneousMatrix	(	vpHomogeneousMatrix &	dst,
		const geometry_msgs::Pose &	src
	)

Definition at line 126 of file conversion.cpp.

void vispImageToRos	(	sensor_msgs::Image &	dst,
		const vpImage< unsigned char > &	src
	)

Convert a ViSP image into a ROS one.

This function copy a ViSP image into a ROS image. The whole content of the ROS image will be reset except the following field which will not be set:

• header
• is_bigendian

Parameters:

dst	ROS destination image
src	ViSP source image

Definition at line 75 of file conversion.cpp.

void vpHomogeneousMatrixToTransform	(	geometry_msgs::Transform &	dst,
		const vpHomogeneousMatrix &	src
	)

Definition at line 88 of file conversion.cpp.