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laser_cb_detector.cpp

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#include <laser_cb_detector/laser_cb_detector.h>
#include <ros/console.h>
#include <cv_bridge/CvBridge.h>
//#include <highgui.h>

using namespace std;
using namespace laser_cb_detector;

LaserCbDetector::LaserCbDetector() : configured_(false)
{

}



bool LaserCbDetector::configure(const ConfigGoal& config)
{
  config_ = config;

  return true;
}


bool LaserCbDetector::detect(const calibration_msgs::DenseLaserSnapshot& snapshot,
                             calibration_msgs::CalibrationPattern& result)
{

  // ***** Convert the snapshot into an image, based on intensity window in config *****
  if(!bridge_.fromIntensity(snapshot, config_.min_intensity, config_.max_intensity))
    return false;
  IplImage* image = bridge_.toIpl();

  // ***** Resize the image based on scaling parameters in config *****
  const int scaled_width  = (int) (.5 + image->width  * config_.width_scaling);
  const int scaled_height = (int) (.5 + image->height * config_.height_scaling);
  IplImage* image_scaled = cvCreateImage(cvSize( scaled_width, scaled_height),
                                         image->depth,
                                         image->nChannels);
  cvResize(image, image_scaled, CV_INTER_LINEAR);

  if (config_.flip_horizontal)
  {
    ROS_DEBUG("Flipping image");
    cvFlip(image_scaled, NULL, 1);
  }
  else
    ROS_DEBUG("Not flipping image");

  //if(!cvSaveImage("/u/vpradeep/scratch/image.png", image)) printf("Could not save\n");
  //if(!cvSaveImage("/u/vpradeep/scratch/image_flipped.png", image_scaled)) printf("Could not save flipped\n");

  // ***** Allocate vector for found corners *****
  vector<CvPoint2D32f> cv_corners;
  cv_corners.resize(config_.num_x*config_.num_y);

  // ***** Do the actual checkerboard extraction *****
  CvSize board_size = cvSize(config_.num_x, config_.num_y);
  int num_corners ;
  int found = cvFindChessboardCorners( image_scaled, board_size, &cv_corners[0], &num_corners,
                                       CV_CALIB_CB_ADAPTIVE_THRESH) ;

  if(found)
  {
    ROS_DEBUG("Found checkerboard");


    CvSize subpixel_window    = cvSize(config_.subpixel_window,
                                       config_.subpixel_window);
    CvSize subpixel_zero_zone = cvSize(config_.subpixel_zero_zone,
                                       config_.subpixel_zero_zone);

    // Subpixel fine-tuning stuff
    cvFindCornerSubPix(image_scaled, &cv_corners[0], num_corners,
                       subpixel_window,
                       subpixel_zero_zone,
                       cvTermCriteria(CV_TERMCRIT_ITER,20,1e-2));
  }
  else
    ROS_DEBUG("Did not find checkerboard");
  cvReleaseImage(&image_scaled);

  // ***** Downscale the detected corners and generate the CalibrationPattern message *****
  result.header.stamp    = snapshot.header.stamp;
  result.header.frame_id = snapshot.header.frame_id;

  result.object_points.resize(config_.num_x * config_.num_y);
  for (unsigned int i=0; i < config_.num_y; i++)
  {
    for (unsigned int j=0; j < config_.num_x; j++)
    {
      result.object_points[i*config_.num_x + j].x = j*config_.spacing_x;
      result.object_points[i*config_.num_x + j].y = i*config_.spacing_y;
      result.object_points[i*config_.num_x + j].z = 0.0;
    }
  }

  result.image_points.resize(num_corners);

  for (int i=0; i < num_corners; i++)
  {
    if (config_.flip_horizontal)
      result.image_points[i].x = image->width - (cv_corners[i].x / config_.width_scaling) - 1;
    else
      result.image_points[i].x = cv_corners[i].x / config_.width_scaling;
    result.image_points[i].y = cv_corners[i].y / config_.height_scaling;
  }

  result.success = found;

  return true;
}

bool LaserCbDetector::getImage(const calibration_msgs::DenseLaserSnapshot& snapshot, sensor_msgs::Image& ros_image)
{
  if(!bridge_.fromIntensity(snapshot, config_.min_intensity, config_.max_intensity))
  {
    ROS_ERROR("Error building IplImage from DenseLaserSnapshot's intensity data");
    return false;
  }
  IplImage* image = bridge_.toIpl();

  if(!sensor_msgs::CvBridge::fromIpltoRosImage(image, ros_image, "mono8"))
  {
    ROS_ERROR("Error converting IplImage to a ROS sensor_msgs::Image");
    return false;
  }

  return true;
}

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laser_cb_detector
Author(s): Vijay Pradeep
autogenerated on Fri Mar 1 16:46:34 2013