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updated for compressed cv::Mat data format

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1938 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-28 19:59:19 +00:00
parent 52c6bd60eb
commit f122090620
7 changed files with 63 additions and 21 deletions
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include/rtabmap/MsgConversion.h
+5
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <geometry_msgs/Transform.h>
#include <geometry_msgs/Pose.h>
#include <rtabmap/core/Transform.h>
#include <opencv2/opencv.hpp>
namespace rtabmap {
@@ -44,6 +45,10 @@ rtabmap::Transform transformFromGeometryMsg(const geometry_msgs::Transform & msg
void transformToPoseMsg(const rtabmap::Transform & transform, geometry_msgs::Pose & msg);
rtabmap::Transform transformFromPoseMsg(const geometry_msgs::Pose & msg);
// copy data
void compressedMatToBytes(const cv::Mat & compressed, std::vector<unsigned char> & bytes);
cv::Mat compressedMatFromBytes(const std::vector<unsigned char> & bytes, bool copy = true);
}
#endif /* MSGCONVERSION_H_ */