image_tools.h File Reference

#include <cstring>
#include <ros/console.h>
#include <ros/assert.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/PointCloud2.h>
#include <stereo_msgs/DisparityImage.h>
#include <cmath>

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Namespaces
namespace	rviz_interaction_tools
Functions
void	rviz_interaction_tools::getPoint (const sensor_msgs::PointCloud2 &cloud, unsigned int h, unsigned int w, float &x, float &y, float &z)
	Get a point as three floats from a dense point cloud using image coordinates.
void	rviz_interaction_tools::getPoint (const stereo_msgs::DisparityImage &disparity_image, const sensor_msgs::CameraInfo &camera_info, unsigned int h, unsigned int w, float &x, float &y, float &z)
	Get the 3D coordinates of a point given its image coordinates and the disparity image.
void	rviz_interaction_tools::getValue (const sensor_msgs::Image &image, unsigned int h, unsigned int w, float &val)
	Get the value from an image at given image coordinates as a float.
bool	rviz_interaction_tools::hasDisparityValue (const stereo_msgs::DisparityImage &disparity_image, unsigned int h, unsigned int w)
	Check if a disparity image as a valid value at given image coordinates.
bool	rviz_interaction_tools::hasPoint (const sensor_msgs::PointCloud2 &cloud, unsigned int h, unsigned int w)
	Check if a dense point cloud has a point at given image coordinates.
bool	rviz_interaction_tools::hasPoint (const sensor_msgs::Image &image, unsigned int h, unsigned int w)
	Check if an image has a value at given image coordinates that is not inf or nan.
void	rviz_interaction_tools::projectTo3d (float u, float v, float disparity, const stereo_msgs::DisparityImage &disparity_image, const sensor_msgs::CameraInfo &camera_info, float &x, float &y, float &z)
void	rviz_interaction_tools::setValue (sensor_msgs::Image &image, unsigned int h, unsigned int w, float val)
	Set the value from an image at given image coordinates as a float.