laser_cb_detector: laser_cb_detector: cv_laser

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00034 
00036 
00037 #ifndef LASER_CB_DETECTOR_CB_LASER_BRIDGE_H_
00038 #define LASER_CB_DETECTOR_CB_LASER_BRIDGE_H_
00039 
00040 #include <opencv/cv.h>
00041 #include <calibration_msgs/DenseLaserSnapshot.h>
00042 
00043 namespace laser_cb_detector
00044 {
00045 
00046 class CvLaserBridge
00047 {
00048 public:
00049   CvLaserBridge() : dest_image_(0)
00050   {
00051 
00052   }
00053 
00054   ~CvLaserBridge()
00055   {
00056     if (dest_image_)
00057     {
00058       cvReleaseImage(&dest_image_);
00059       dest_image_ = 0;
00060     }
00061   }
00062 
00063   bool fromIntensity(const calibration_msgs::DenseLaserSnapshot& snapshot, float min_val, float max_val);
00064 
00065   inline IplImage* toIpl()
00066   {
00067     return dest_image_;
00068   }
00069 
00070 private:
00071   IplImage* dest_image_;
00072   bool reallocIfNeeded(IplImage** img, CvSize sz);
00073   void fromSnapshot(const calibration_msgs::DenseLaserSnapshot& snapshot, const std::vector<float>& src, float min_val, float max_val);
00074 
00075 
00076 };
00077 
00078 }
00079 
00080 #endif // LASER_CB_DETECTOR_CB_LASER_BRIDGE_H_
cv_laser_bridge.h
