laser_cb_detector: cv_laser_bridge.cpp Source File

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