rclcpp::TypeAdapter< image_tools::ROSCvMatContainer, sensor_msgs::msg::Image > Struct Reference

#include <cv_mat_sensor_msgs_image_type_adapter.hpp>

Collaboration diagram for rclcpp::TypeAdapter< image_tools::ROSCvMatContainer, sensor_msgs::msg::Image >:

Public Types
using	is_specialized = std::true_type
using	custom_type = image_tools::ROSCvMatContainer
using	ros_message_type = sensor_msgs::msg::Image

Static Public Member Functions
static void	convert_to_ros_message (const custom_type &source, ros_message_type &destination)
static void	convert_to_custom (const ros_message_type &source, custom_type &destination)

Detailed Description

Definition at line 233 of file cv_mat_sensor_msgs_image_type_adapter.hpp.

Member Typedef Documentation

custom_type

using rclcpp::TypeAdapter< image_tools::ROSCvMatContainer, sensor_msgs::msg::Image >::custom_type = image_tools::ROSCvMatContainer

Definition at line 236 of file cv_mat_sensor_msgs_image_type_adapter.hpp.

is_specialized

using rclcpp::TypeAdapter< image_tools::ROSCvMatContainer, sensor_msgs::msg::Image >::is_specialized = std::true_type

Definition at line 235 of file cv_mat_sensor_msgs_image_type_adapter.hpp.

ros_message_type

using rclcpp::TypeAdapter< image_tools::ROSCvMatContainer, sensor_msgs::msg::Image >::ros_message_type = sensor_msgs::msg::Image

Definition at line 237 of file cv_mat_sensor_msgs_image_type_adapter.hpp.

Member Function Documentation

convert_to_custom()

static void rclcpp::TypeAdapter< image_tools::ROSCvMatContainer, sensor_msgs::msg::Image >::convert_to_custom ( const ros_message_type &  source, custom_type &  destination  )

inlinestatic

Definition at line 272 of file cv_mat_sensor_msgs_image_type_adapter.hpp.

  {
    destination = image_tools::ROSCvMatContainer(source);
  }

convert_to_ros_message()

static void rclcpp::TypeAdapter< image_tools::ROSCvMatContainer, sensor_msgs::msg::Image >::convert_to_ros_message ( const custom_type &  source, ros_message_type &  destination  )

inlinestatic

Definition at line 241 of file cv_mat_sensor_msgs_image_type_adapter.hpp.

  {
    destination.height = source.cv_mat().rows;
    destination.width = source.cv_mat().cols;
    switch (source.cv_mat().type()) {
      case CV_8UC1:
        destination.encoding = "mono8";
        break;
      case CV_8UC3:
        destination.encoding = "bgr8";
        break;
      case CV_16SC1:
        destination.encoding = "mono16";
        break;
      case CV_8UC4:
        destination.encoding = "rgba8";
        break;
      default:
        throw std::runtime_error("unsupported encoding type");
    }
    destination.step = static_cast<sensor_msgs::msg::Image::_step_type>(source.cv_mat().step);
    size_t size = source.cv_mat().step * source.cv_mat().rows;
    destination.data.resize(size);
    memcpy(&destination.data[0], source.cv_mat().data, size);
    destination.header = source.header();
  }

References image_tools::ROSCvMatContainer::cv_mat(), and image_tools::ROSCvMatContainer::header().

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The documentation for this struct was generated from the following file:

• smacc2_sm_reference_library/sm_husky_barrel_search_1/servers/opencv_perception_node/cv_mat_sensor_msgs_image_type_adapter.hpp