cv_bridge Namespace Reference

Namespaces
	rgb_colors

Classes
class	CvImage
	Image message class that is interoperable with sensor_msgs/Image but uses a more convenient cv::Mat representation for the image data. More...
struct	CvtColorForDisplayOptions
class	Exception

Typedefs
typedef boost::shared_ptr< CvImage const >	CvImageConstPtr
typedef boost::shared_ptr< CvImage >	CvImagePtr

Enumerations
enum	Format {   BMP, DIB, JPG, JPEG,   JPE, JP2, PNG, PBM,   PGM, PPM, SR, RAS,   TIFF, TIF }

Functions
CvImagePtr	cvtColor (const CvImageConstPtr &source, const std::string &encoding)
	Convert a CvImage to another encoding using the same rules as toCvCopy. More...
CvImageConstPtr	cvtColorForDisplay (const CvImageConstPtr &source, const std::string &encoding=std::string(), const CvtColorForDisplayOptions options=CvtColorForDisplayOptions())
	Converts an immutable sensor_msgs::Image message to another CvImage for display purposes, using practical conversion rules if needed. More...
static int	depthStrToInt (const std::string depth)
int	getCvType (const std::string &encoding)
	Get the OpenCV type enum corresponding to the encoding. More...
std::string	getFormat (Format format)
CvImagePtr	toCvCopy (const sensor_msgs::CompressedImage &source, const std::string &encoding=std::string())
CvImagePtr	toCvCopy (const sensor_msgs::CompressedImageConstPtr &source, const std::string &encoding=std::string())
CvImagePtr	toCvCopy (const sensor_msgs::Image &source, const std::string &encoding=std::string())
	Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the image data. More...
CvImagePtr	toCvCopy (const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
	Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the image data. More...
CvImageConstPtr	toCvShare (const sensor_msgs::Image &source, const boost::shared_ptr< void const > &tracked_object, const std::string &encoding=std::string())
	Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing the image data if possible. More...
CvImageConstPtr	toCvShare (const sensor_msgs::ImageConstPtr &source, const std::string &encoding=std::string())
	Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing the image data if possible. More...

Typedef Documentation

CvImageConstPtr

typedef boost::shared_ptr<CvImage const> cv_bridge::CvImageConstPtr

Definition at line 92 of file cv_bridge.h.

CvImagePtr

typedef boost::shared_ptr<CvImage> cv_bridge::CvImagePtr

Definition at line 89 of file cv_bridge.h.

Enumeration Type Documentation

Format

enum cv_bridge::Format

Enumerator
BMP
DIB
JPG
JPEG
JPE
JP2
PNG
PBM
PGM
PPM
SR
RAS
TIFF
TIF

Definition at line 95 of file cv_bridge.h.

Function Documentation

cvtColor()

CvImagePtr cv_bridge::cvtColor	(	const CvImageConstPtr &	source,
		const std::string &	encoding
	)

Convert a CvImage to another encoding using the same rules as toCvCopy.

Definition at line 462 of file cv_bridge.cpp.

cvtColorForDisplay()

CvImageConstPtr cv_bridge::cvtColorForDisplay	(	const CvImageConstPtr &	source,
		const std::string &	encoding = std::string(),
		const CvtColorForDisplayOptions	options = CvtColorForDisplayOptions()
	)

Converts an immutable sensor_msgs::Image message to another CvImage for display purposes, using practical conversion rules if needed.

Data will be shared between input and output if possible.

Recall: sensor_msgs::image_encodings::isColor and isMono tell whether an image contains R,G,B,A, mono (or any combination/subset) with 8 or 16 bit depth.

The following rules apply:

• if the output encoding is empty, the fact that the input image is mono or multiple-channel is preserved in the ouput image. The bit depth will be 8. it tries to convert to BGR no matter what encoding image is passed.
• if the output encoding is not empty, it must have sensor_msgs::image_encodings::isColor and isMono return true. It must also be 8 bit in depth
• if the input encoding is an OpenCV format (e.g. 8UC1), and if we have 1,3 or 4 channels, it is respectively converted to mono, BGR or BGRA.
• if the input encoding is 32SC1, this estimate that image as label image and will convert it as bgr image with different colors for each label.

Parameters

source	A shared_ptr to a sensor_msgs::Image message
encoding	Either an encoding string that returns true in sensor_msgs::image_encodings::isColor isMono or the empty string as explained above.
options	(cv_bridge::CvtColorForDisplayOptions) Options to convert the source image with. do_dynamic_scaling If true, the image is dynamically scaled between its minimum and maximum value before being converted to its final encoding. min_image_value Independently from do_dynamic_scaling, if min_image_value and max_image_value are different, the image is scaled between these two values before being converted to its final encoding. max_image_value Maximum image value colormap Colormap which the source image converted with.

Definition at line 576 of file cv_bridge.cpp.

depthStrToInt()

static int cv_bridge::depthStrToInt ( const std::string  depth )

static

Definition at line 88 of file cv_bridge.cpp.

getCvType()

int cv_bridge::getCvType

(

const std::string &

encoding

)

Get the OpenCV type enum corresponding to the encoding.

For example, "bgr8" -> CV_8UC3, "32FC1" -> CV_32FC1, and "32FC10" -> CV_32FC10.

Definition at line 105 of file cv_bridge.cpp.

getFormat()

std::string cv_bridge::getFormat

(

Format

format

)

Definition at line 477 of file cv_bridge.cpp.

toCvCopy() [1/4]

CvImagePtr cv_bridge::toCvCopy	(	const sensor_msgs::CompressedImage &	source,
		const std::string &	encoding = std::string()
	)

Definition at line 548 of file cv_bridge.cpp.

toCvCopy() [2/4]

CvImagePtr cv_bridge::toCvCopy	(	const sensor_msgs::CompressedImageConstPtr &	source,
		const std::string &	encoding = std::string()
	)

Definition at line 542 of file cv_bridge.cpp.

toCvCopy() [3/4]

CvImagePtr cv_bridge::toCvCopy	(	const sensor_msgs::Image &	source,
		const std::string &	encoding = std::string()
	)

Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the image data.

Parameters

source	A sensor_msgs::Image message
encoding	The desired encoding of the image data, one of the following strings: "mono8" "bgr8" "bgra8" "rgb8" "rgba8" "mono16"

If encoding is the empty string (the default), the returned CvImage has the same encoding as source. If the source is 8bit and the encoding 16 or vice-versa, a scaling is applied (65535/255 and 255/65535 respectively). Otherwise, no scaling is applied and the rules from the convertTo OpenCV function are applied (capping): http://docs.opencv.org/modules/core/doc/basic_structures.html#mat-convertto

Definition at line 431 of file cv_bridge.cpp.

toCvCopy() [4/4]

CvImagePtr cv_bridge::toCvCopy	(	const sensor_msgs::ImageConstPtr &	source,
		const std::string &	encoding = std::string()
	)

Convert a sensor_msgs::Image message to an OpenCV-compatible CvImage, copying the image data.

Parameters

source	A shared_ptr to a sensor_msgs::Image message
encoding	The desired encoding of the image data, one of the following strings: "mono8" "bgr8" "bgra8" "rgb8" "rgba8" "mono16"

If encoding is the empty string (the default), the returned CvImage has the same encoding as source.

Definition at line 425 of file cv_bridge.cpp.

toCvShare() [1/2]

CvImageConstPtr cv_bridge::toCvShare	(	const sensor_msgs::Image &	source,
		const boost::shared_ptr< void const > &	tracked_object,
		const std::string &	encoding = std::string()
	)

Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing the image data if possible.

If the source encoding and desired encoding are the same, the returned CvImage will share the image data with source without copying it. The returned CvImage cannot be modified, as that could modify the source data.

This overload is useful when you have a shared_ptr to a message that contains a sensor_msgs::Image, and wish to share ownership with the containing message.

Parameters

source	The sensor_msgs::Image message
tracked_object	A shared_ptr to an object owning the sensor_msgs::Image
encoding	The desired encoding of the image data, one of the following strings: "mono8" "bgr8" "bgra8" "rgb8" "rgba8" "mono16"

If encoding is the empty string (the default), the returned CvImage has the same encoding as source.

Definition at line 445 of file cv_bridge.cpp.

toCvShare() [2/2]

CvImageConstPtr cv_bridge::toCvShare	(	const sensor_msgs::ImageConstPtr &	source,
		const std::string &	encoding = std::string()
	)

Convert an immutable sensor_msgs::Image message to an OpenCV-compatible CvImage, sharing the image data if possible.

If the source encoding and desired encoding are the same, the returned CvImage will share the image data with source without copying it. The returned CvImage cannot be modified, as that could modify the source data.

Parameters

source	A shared_ptr to a sensor_msgs::Image message
encoding	The desired encoding of the image data, one of the following strings: "mono8" "bgr8" "bgra8" "rgb8" "rgba8" "mono16"

If encoding is the empty string (the default), the returned CvImage has the same encoding as source.

Definition at line 439 of file cv_bridge.cpp.