Struct CvImage 

pub struct CvImage { /* private fields */ }

Implementations

impl CvImage

pub fn from_imgmsg(image: Image) -> Result<CvImage, Box<dyn Error>>

Constructs a new CvImage from a sensor_msgs::Image message.

Example

let image = rosrust_msg::sensor_msgs::Image::default();
// set the image data
let cv_image = CvImage::from_imgmsg(image).unwrap();

Arguments

• image - rosrust_msg::sensor_msgs::Image message

Returns

• CvImage object

Examples found in repository

examples/image_viewer.rs (line 17)

fn main() {
    // Initialize ros node
    rosrust::init("image_viewer");

    // Create image subscriber
    let _subscriber_raii = rosrust::subscribe(
        "/camera/image_raw",
        5,
        move |image: Image| {
            // Convert ros Image to opencv Mat
            let mut cv_image = CvImage::from_imgmsg(image).expect("failed to construct CvImage from ros Image"); 
            let mat = cv_image.as_cvmat().expect("failed to convert CvImage to Mat");

            // Display image
            let window = "view";
            highgui::named_window(window, highgui::WINDOW_AUTOSIZE).unwrap();
            highgui::imshow(window, &mat).unwrap();
            highgui::wait_key(1).unwrap();
        }
    );

    rosrust::spin();
}

pub fn from_cvmat(mat: Mat, encoding: &str) -> Result<CvImage, Box<dyn Error>>

Constructs a new CvImage from a cv::Mat object.

Example

let mat = opencv::core::Mat::default();
// set the image data
let cv_image = CvImage::from_cvmat(mat, "bgr8").unwrap();

Arguments

• mat - opencv::core::Mat object
• encoding - Encoding of the image. Note that Mat does not contain any metadata about the image encoding, so it must be tracked by the user.

Returns

• CvImage object

pub fn into_imgmsg(self, is_bigendian: u8) -> Result<Image, Box<dyn Error>>

Converts the CvImage to a sensor_msgs::Image message.

Example:

let mut cv_image = CvImage::from_imgmsg(image_msg).unwrap();
let image_msg = cv_image.to_imgmsg(0).unwrap();

Arguments

• is_bigendian - Endianness of the image data. 0 for little-endian, 1 for big-endian.

Returns

• sensor_msgs::Image message

pub fn to_cvimage( &mut self, desired_encoding: &str, ) -> Result<CvImage, Box<dyn Error>>

Converts the CvImage to a CvImage with a different encoding. It will copy the data into the new buffer.

Example:

let mut cv_image = CvImage::from_imgmsg(image_msg).unwrap();
let cv_image = cv_image.to_cvimage("mono8").unwrap();

Arguments

• desired_encoding - Encoding of the new image. Check the supported encodings in the image_encodings module.

Returns

• CvImage object

pub fn as_cvmat(&mut self) -> Result<Mat, Box<dyn Error>>

Returns the image as a cv::Mat object. This is a cheap operation as the data is shared between the CvImage and the Mat object.

Returns

• opencv::core::Mat object

Examples found in repository

examples/image_viewer.rs (line 18)

fn main() {
    // Initialize ros node
    rosrust::init("image_viewer");

    // Create image subscriber
    let _subscriber_raii = rosrust::subscribe(
        "/camera/image_raw",
        5,
        move |image: Image| {
            // Convert ros Image to opencv Mat
            let mut cv_image = CvImage::from_imgmsg(image).expect("failed to construct CvImage from ros Image"); 
            let mat = cv_image.as_cvmat().expect("failed to convert CvImage to Mat");

            // Display image
            let window = "view";
            highgui::named_window(window, highgui::WINDOW_AUTOSIZE).unwrap();
            highgui::imshow(window, &mat).unwrap();
            highgui::wait_key(1).unwrap();
        }
    );

    rosrust::spin();
}

pub fn as_container(&self) -> &DataContainer

Returns the immutable internal vector container containing the image data.

Returns

• DataContainer object

pub fn as_mut_container(&mut self) -> &mut DataContainer

Returns the mutable internal vector container containing the image data.

Returns

• DataContainer object

pub fn header(&self) -> &Header

Returns the immutable header message used by ROS.

Returns

• std_msgs::Header message

pub fn header_mut(&mut self) -> &mut Header

Returns the mutable header message used by ROS.

Returns

• std_msgs::Header message

pub fn encoding(&self) -> &String

Returns the immutable encoding string. Check the supported encodings in the image_encodings module.

Returns

• String object

pub fn width(&self) -> usize

Returns the immutable width of the image.

Returns

• usize object containing the width

pub fn height(&self) -> usize

Returns the immutable height of the image.

Returns

• usize object containing the height

Trait Implementations

impl Debug for CvImage

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.