laser_cb_detector: laser_cb_detector: cv_laser

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00034 
00036 
00037 #include <ros/console.h>
00038 #include <laser_cb_detector/cv_laser_bridge.h>
00039 
00040 using namespace laser_cb_detector;
00041 
00042 bool CvLaserBridge::fromIntensity(const calibration_msgs::DenseLaserSnapshot& snapshot, float min_val, float max_val)
00043 {
00044   if (snapshot.num_scans * snapshot.readings_per_scan != snapshot.intensities.size())
00045   {
00046     ROS_ERROR("Got malformed snapshot. Expected [%u x %u]=%u, but snapshot.intensities.size()=%u",
00047               snapshot.num_scans, snapshot.readings_per_scan,
00048               snapshot.num_scans * snapshot.readings_per_scan,
00049               snapshot.intensities.size());
00050     return false;
00051   }
00052 
00053   fromSnapshot(snapshot, snapshot.intensities, min_val, max_val);
00054   return true;
00055 }
00056 
00057 bool CvLaserBridge::reallocIfNeeded(IplImage** img, CvSize sz)
00058 {
00059   int depth = IPL_DEPTH_8U;
00060   int channels = 1;
00061 
00062   if ((*img) != 0)
00063   {
00064     if ((*img)->width     != sz.width  ||
00065         (*img)->height    != sz.height ||
00066         (*img)->depth     != depth     ||
00067         (*img)->nChannels != channels)
00068     {
00069       cvReleaseImage(img);
00070       *img = 0;
00071     }
00072   }
00073 
00074   if (*img == 0)
00075   {
00076     *img = cvCreateImage(sz, depth, channels);
00077     return true;
00078   }
00079   return false;
00080 }
00081 
00082 void CvLaserBridge::fromSnapshot(const calibration_msgs::DenseLaserSnapshot& snapshot, const std::vector<float>& src, float min_val, float max_val)
00083 {
00084   assert(snapshot.num_scans * snapshot.readings_per_scan == src.size());
00085 
00086   CvMat cvmHeader;
00087 
00088   IplImage source_image;
00089 
00090   cvInitMatHeader(&cvmHeader, snapshot.num_scans, snapshot.readings_per_scan, CV_32FC1, const_cast<float*>(&(src[0])));
00091   cvGetImage(&cvmHeader, &source_image);
00092 
00093   reallocIfNeeded(&dest_image_, cvSize(source_image.width, source_image.height) );
00094 
00095   double range = (max_val - min_val);
00096   double scale = 255/range;
00097   double shift = -min_val * 255/range;
00098 
00099   ROS_DEBUG("Scale: %f   Shift: %f\n", scale, shift);
00100 
00101   cvConvertScale(&source_image, dest_image_, scale, shift);
00102 }
cv_laser_bridge.cpp
