ecto_ros ROS utility cells

ecto_ros

BagReader

Brief doc

BagReader reads bags.

Parameters

• bag   type: std::string    required   default: foo.bag

  The bag filename.

• baggers   type: boost::python::api::object    required   no default value

  A python dict Bagger_MessageT objects.

DriftPrinter

Brief doc

Prints timing drift. For image,depth,camera_infos.

Inputs

• depth   type: boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>   

• depth_info   type: boost::shared_ptr<sensor_msgs::CameraInfo_<std::allocator<void> > const>   

• image   type: boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>   

• image_info   type: boost::shared_ptr<sensor_msgs::CameraInfo_<std::allocator<void> > const>   

BagWriter

Brief doc

BagWriter writes bags.

Parameters

• bag   type: std::string    required   default: foo.bag

  The bag filename.

• baggers   type: boost::python::api::object    required   no default value

  A python dict Bagger_MessageT objects.

• compressed   type: bool    not required   default: False

  Use compresion?

Mat2Image

Brief doc

Converts an cv::Mat to Image message type.

Parameters

• encoding   type: std::string    not required   no default value

  ROS image message encoding override.

• frame_id   type: std::string    not required   default: default_frame

  Frame this data is associated with

• swap_rgb   type: bool    not required   default: False

  Swap the red and blue channels

Inputs

• image   type: cv::Mat   

  A cv::Mat.

Outputs

• image   type: boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>   

  A sensor_msg::Image message.

LazyMat2ImagePublisher

Brief doc

Parameters

• encoding   type: std::string    not required   no default value

  ROS image message encoding override.

• every_n   type: int    not required   default: 1

  Will be true at every iteration where count%n == 0

• frame_id   type: std::string    not required   default: default_frame

  Frame this data is associated with

• latched   type: bool    not required   default: True

  Is this a latched topic?

• queue_size   type: int    not required   default: 2

  The amount to buffer incoming messages.

• swap_rgb   type: bool    not required   default: False

  Swap the red and blue channels

• topic_name   type: std::string    not required   default: /images/candidate_beans

  The topic name to publish to. May be remapped.

Inputs

• image   type: cv::Mat   

  A cv::Mat.

Outputs

• has_subscribers   type: bool   

  Has currently connected subscribers.

Mat2PointCloud2

Brief doc

Converts an cv::Mat to PointCloud2.

Parameters

• frame_id   type: std::string    not required   default: default_frame

  Frame this data is associated with

Inputs

• image   type: cv::Mat   

  A cv::Mat.

Outputs

• cloud   type: boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const>   

  A sensor_msg::PointCloud2 message.

PointCloud2DepthImage

Brief doc

Converts a PointCloud to a depth Image message type.

Inputs

• cloud   type: boost::shared_ptr<sensor_msgs::PointCloud_<std::allocator<void> > const>   

  A sensor_msg::PointCloud2 message.

Outputs

• image   type: boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>   

  A cv::Mat with only one channel for the depth.

RT2PoseStamped

Brief doc

Takes an R and T cv::Mat style and emits a stamped pose.

Parameters

• frame_id   type: std::string    required   no default value

  The frame id that generated the pose.

Inputs

• R   type: cv::Mat   

  3X3 Rotation matrix.

• T   type: cv::Mat   

  3X1 Translation vector.

Outputs

• pose   type: boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>   

  A geometry_msgs::PoseStamped.

PointCloud22DepthImage

Brief doc

Converts a PointCloud2 to a depth Image message type.

Inputs

• cloud   type: boost::shared_ptr<sensor_msgs::PointCloud2_<std::allocator<void> > const>   

  A sensor_msg::PointCloud2 message.

Outputs

• image   type: boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>   

  A cv::Mat with only one channel for the depth.

Image2Mat

Brief doc

Converts an Image message to cv::Mat type.

Parameters

• swap_rgb   type: bool    not required   default: False

  Swap the red and blue channels

Inputs

• image   type: boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>   

  A sensor_msg::Image message from ros.

Outputs

• image   type: cv::Mat   

  A cv::Mat copy.

Synchronizer

Brief doc

Synchronizer synchronizes.

Parameters

• subs   type: boost::python::api::object    required   no default value

  A python dict ecto_Message_subscriber

CameraInfo2Cv

Brief doc

Takes a CameraInfo message and converts to OpenCV types.

Inputs

• camera_info   type: boost::shared_ptr<sensor_msgs::CameraInfo_<std::allocator<void> > const>   

Outputs

• D   type: cv::Mat   

• K   type: cv::Mat   

• image_size   type: cv::Size_<int>   

PoseStamped2RT

Brief doc

Takes a geometry_msgs::PoseStamped and turn it into a cv::Mat R and T.

Inputs

• pose   type: boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>   

  A geometry_msgs::PoseStamped.

Outputs

• R   type: cv::Mat   

  3X3 Rotation matrix.

• T   type: cv::Mat   

  3X1 Translation vector.

• frame_id   type: std::string   

  The frame id of the pose.

Mat2PointCloud

Brief doc

Converts an cv::Mat to PointCloud.

Parameters

• frame_id   type: std::string    not required   default: default_frame

  Frame this data is associated with

Inputs

• image   type: cv::Mat   

  A cv::Mat.

Outputs

• cloud   type: boost::shared_ptr<sensor_msgs::PointCloud_<std::allocator<void> > const>   

  A sensor_msg::PointCloud2 message.

Cv2CameraInfo

Brief doc

Takes opencv style camera info, and converts to an CameraInfo message.

Parameters

• frame_id   type: std::string    not required   no default value

Inputs

• D   type: cv::Mat   

• K   type: cv::Mat   

• image_size   type: cv::Size_<int>   

Outputs

• camera_info   type: boost::shared_ptr<sensor_msgs::CameraInfo_<std::allocator<void> > const>