processor.h
Go to the documentation of this file.
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2008, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Willow Garage nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 #ifndef IMAGE_PROC_PROCESSOR_H
35 #define IMAGE_PROC_PROCESSOR_H
36 
37 #include <opencv2/core/core.hpp>
39 #include <sensor_msgs/Image.h>
40 
41 namespace image_proc {
42 
43 struct ImageSet
44 {
45  std::string color_encoding;
46  cv::Mat mono;
47  cv::Mat rect;
48  cv::Mat color;
49  cv::Mat rect_color;
50 };
51 
52 class Processor
53 {
54 public:
56  : interpolation_(cv::INTER_LINEAR)
57  {
58  }
59 
61 
62  enum {
63  MONO = 1 << 0,
64  RECT = 1 << 1,
65  COLOR = 1 << 2,
66  RECT_COLOR = 1 << 3,
67  ALL = MONO | RECT | COLOR | RECT_COLOR
68  };
69 
70  bool process(const sensor_msgs::ImageConstPtr& raw_image,
72  ImageSet& output, int flags = ALL) const;
73 };
74 
75 } //namespace image_proc
76 
77 #endif
std::string color_encoding
Definition: processor.h:45


image_proc
Author(s): Patrick Mihelich, Kurt Konolige, Jeremy Leibs
autogenerated on Fri May 3 2019 02:59:51