parse_wrapper.cpp
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00031 
00032 #include "camera_calibration_parsers/parse.h"
00033 #include "camera_calibration_parsers/parse_wrapper.h"
00034 
00035 #include <boost/python.hpp>
00036 #include <ros/serialization.h>
00037 
00038 namespace camera_calibration_parsers {
00039 
00040 /* Write a ROS message into a serialized string.
00041  * @from https://github.com/galou/python_bindings_tutorial/blob/master/src/add_two_ints_wrapper.cpp#L27
00042 */
00043 template <typename M>
00044 std::string to_python(const M& msg)
00045 {
00046   size_t serial_size = ros::serialization::serializationLength(msg);
00047   boost::shared_array<uint8_t> buffer(new uint8_t[serial_size]);
00048   ros::serialization::OStream stream(buffer.get(), serial_size);
00049   ros::serialization::serialize(stream, msg);
00050   std::string str_msg;
00051   str_msg.reserve(serial_size);
00052   for (size_t i = 0; i < serial_size; ++i)
00053   {
00054     str_msg.push_back(buffer[i]);
00055   }
00056   return str_msg;
00057 }
00058 
00059 // Wrapper for readCalibration()
00060 boost::python::tuple readCalibrationWrapper(const std::string& file_name)
00061 {
00062   std::string camera_name;
00063   sensor_msgs::CameraInfo camera_info;
00064   bool result = readCalibration(file_name, camera_name, camera_info);
00065   std::string cam_info = to_python(camera_info);
00066   return boost::python::make_tuple(result, camera_name, cam_info);
00067 }
00068 
00069 BOOST_PYTHON_MODULE(camera_calibration_parsers_wrapper)
00070 {
00071     boost::python::def("__readCalibrationWrapper", readCalibrationWrapper, boost::python::args("file_name"), "");
00072 }
00073 
00074 } //namespace camera_calibration_parsers


camera_calibration_parsers
Author(s): Patrick Mihelich
autogenerated on Tue Jun 6 2017 02:33:31