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

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.