00001 #ifndef VISP_TRACKER_CONVERSION_HH
00002 # define VISP_TRACKER_CONVERSION_HH
00003 # include <boost/optional.hpp>
00004
00005 # include <ros/ros.h>
00006
00007 # include <geometry_msgs/Transform.h>
00008 # include <sensor_msgs/Image.h>
00009 # include <sensor_msgs/CameraInfo.h>
00010
00011 # include <visp/vpHomogeneousMatrix.h>
00012 # include <visp/vpCameraParameters.h>
00013 # include <visp/vpMbEdgeTracker.h>
00014 # include <visp/vpMe.h>
00015
00016 # include <visp_tracker/Init.h>
00017 # include <visp_tracker/MovingEdgeConfig.h>
00018
00029 void rosImageToVisp(vpImage<unsigned char>& dst,
00030 const sensor_msgs::Image::ConstPtr& src);
00031
00042 void vispImageToRos(sensor_msgs::Image& dst,
00043 const vpImage<unsigned char>& src);
00044
00045
00046 void vpHomogeneousMatrixToTransform(geometry_msgs::Transform& dst,
00047 const vpHomogeneousMatrix& src);
00048
00049 void transformToVpHomogeneousMatrix(vpHomogeneousMatrix& dst,
00050 const geometry_msgs::Transform& src);
00051
00052 void convertMovingEdgeConfigToVpMe(const visp_tracker::MovingEdgeConfig& config,
00053 vpMe& moving_edge,
00054 vpMbEdgeTracker& tracker);
00055
00056 void convertVpMeToMovingEdgeConfig(const vpMe& moving_edge,
00057 const vpMbEdgeTracker& tracker,
00058 visp_tracker::MovingEdgeConfig& config);
00059
00060 void convertVpMeToInitRequest(const vpMe& moving_edge,
00061 const vpMbEdgeTracker& tracker,
00062 visp_tracker::Init& srv);
00063
00064 void convertInitRequestToVpMe(const visp_tracker::Init::Request& req,
00065 vpMbEdgeTracker& tracker,
00066 vpMe& moving_edge);
00067
00068 void initializeVpCameraFromCameraInfo(vpCameraParameters& cam,
00069 sensor_msgs::CameraInfoConstPtr info);
00070
00071 #endif //! VISP_TRACKER_CONVERSION_HH
