conversions.h

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#ifndef RGBD_ROS_CONVERSIONS_H_
#define RGBD_ROS_CONVERSIONS_H_
 
#include <rgbd_msgs/RGBD.h>
 
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
 
#include "rgbd/image.h"
 
namespace cv { class Mat; }
namespace geo { class DepthCamera; }
 
namespace rgbd
{
 
bool convert(const cv::Mat& image, sensor_msgs::Image& image_msg);
 
bool convert(const cv::Mat& image, const geo::DepthCamera& cam_model, sensor_msgs::Image& image_msg, sensor_msgs::CameraInfo& cam_model_msg);
 
bool convert(const rgbd_msgs::RGBDConstPtr& msg, rgbd::Image*& image);
 
}
 
#endif // RGBD_ROS_CONVERSIONS_H_