conversion.cpp File Reference

#include <cstring>
#include <stdexcept>
#include <boost/format.hpp>
#include <tf/transform_datatypes.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/distortion_models.h>
#include <visp/vpImage.h>
#include <visp/vpTranslationVector.h>
#include <visp/vpQuaternionVector.h>
#include <visp/vpMbEdgeTracker.h>
#include <visp/vpMbKltTracker.h>
#include "conversion.hh"

Include dependency graph for conversion.cpp:

Go to the source code of this file.

Functions
void	convertInitRequestToVpKltOpencv (const visp_tracker::Init::Request &req, vpMbTracker *tracker, vpKltOpencv &klt)
void	convertInitRequestToVpMbTracker (const visp_tracker::Init::Request &req, vpMbTracker *tracker)
void	convertInitRequestToVpMe (const visp_tracker::Init::Request &req, vpMbTracker *tracker, vpMe &moving_edge)
void	convertVpKltOpencvToInitRequest (const vpKltOpencv &klt, const vpMbTracker *tracker, visp_tracker::Init &srv)
std::string	convertVpKltOpencvToRosMessage (const vpMbTracker *tracker, const vpKltOpencv &klt)
void	convertVpMbTrackerToInitRequest (const vpMbTracker *tracker, visp_tracker::Init &srv)
std::string	convertVpMbTrackerToRosMessage (const vpMbTracker *tracker)
void	convertVpMeToInitRequest (const vpMe &moving_edge, const vpMbTracker *tracker, visp_tracker::Init &srv)
std::string	convertVpMeToRosMessage (const vpMbTracker *tracker, const vpMe &moving_edge)
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 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 330 of file conversion.cpp.

void convertInitRequestToVpMbTracker	(	const visp_tracker::Init::Request &	req,
		vpMbTracker *	tracker
	)

Definition at line 232 of file conversion.cpp.

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

Definition at line 282 of file conversion.cpp.

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

Definition at line 314 of file conversion.cpp.

std::string convertVpKltOpencvToRosMessage	(	const vpMbTracker *	tracker,
		const vpKltOpencv &	klt
	)

Definition at line 134 of file conversion.cpp.

void convertVpMbTrackerToInitRequest	(	const vpMbTracker *	tracker,
		visp_tracker::Init &	srv
	)

Definition at line 208 of file conversion.cpp.

std::string convertVpMbTrackerToRosMessage

(

const vpMbTracker *

tracker

)

Definition at line 87 of file conversion.cpp.

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

Definition at line 254 of file conversion.cpp.

std::string convertVpMeToRosMessage	(	const vpMbTracker *	tracker,
		const vpMe &	moving_edge
	)

Definition at line 113 of file conversion.cpp.

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

Definition at line 348 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 27 of file conversion.cpp.

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

Definition at line 167 of file conversion.cpp.

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

Definition at line 175 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 73 of file conversion.cpp.

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

Definition at line 151 of file conversion.cpp.