cv_laser_bridge.cpp

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#include <ros/console.h>
#include <laser_cb_detector/cv_laser_bridge.h>

using namespace laser_cb_detector;

bool CvLaserBridge::fromIntensity(const calibration_msgs::DenseLaserSnapshot& snapshot, float min_val, float max_val)
{
  if (snapshot.num_scans * snapshot.readings_per_scan != snapshot.intensities.size())
  {
    ROS_ERROR("Got malformed snapshot. Expected [%u x %u]=%u, but snapshot.intensities.size()=%u",
              snapshot.num_scans, snapshot.readings_per_scan,
              snapshot.num_scans * snapshot.readings_per_scan,
              snapshot.intensities.size());
    return false;
  }

  fromSnapshot(snapshot, snapshot.intensities, min_val, max_val);
  return true;
}

bool CvLaserBridge::reallocIfNeeded(IplImage** img, CvSize sz)
{
  int depth = IPL_DEPTH_8U;
  int channels = 1;

  if ((*img) != 0)
  {
    if ((*img)->width     != sz.width  ||
        (*img)->height    != sz.height ||
        (*img)->depth     != depth     ||
        (*img)->nChannels != channels)
    {
      cvReleaseImage(img);
      *img = 0;
    }
  }

  if (*img == 0)
  {
    *img = cvCreateImage(sz, depth, channels);
    return true;
  }
  return false;
}

void CvLaserBridge::fromSnapshot(const calibration_msgs::DenseLaserSnapshot& snapshot, const std::vector<float>& src, float min_val, float max_val)
{
  assert(snapshot.num_scans * snapshot.readings_per_scan == src.size());

  CvMat cvmHeader;

  IplImage source_image;

  cvInitMatHeader(&cvmHeader, snapshot.num_scans, snapshot.readings_per_scan, CV_32FC1, const_cast<float*>(&(src[0])));
  cvGetImage(&cvmHeader, &source_image);

  reallocIfNeeded(&dest_image_, cvSize(source_image.width, source_image.height) );

  double range = (max_val - min_val);
  double scale = 255/range;
  double shift = -min_val * 255/range;

  ROS_DEBUG("Scale: %f   Shift: %f\n", scale, shift);

  cvConvertScale(&source_image, dest_image_, scale, shift);
}