cv_laser_bridge.h

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#ifndef LASER_CB_DETECTOR_CB_LASER_BRIDGE_H_
#define LASER_CB_DETECTOR_CB_LASER_BRIDGE_H_

#include <opencv/cv.h>
#include <calibration_msgs/DenseLaserSnapshot.h>

namespace laser_cb_detector
{

class CvLaserBridge
{
public:
  CvLaserBridge() : dest_image_(0)
  {

  }

  ~CvLaserBridge()
  {
    if (dest_image_)
    {
      cvReleaseImage(&dest_image_);
      dest_image_ = 0;
    }
  }

  bool fromIntensity(const calibration_msgs::DenseLaserSnapshot& snapshot, float min_val, float max_val);

  inline IplImage* toIpl()
  {
    return dest_image_;
  }

private:
  IplImage* dest_image_;
  bool reallocIfNeeded(IplImage** img, CvSize sz);
  void fromSnapshot(const calibration_msgs::DenseLaserSnapshot& snapshot, const std::vector<float>& src, float min_val, float max_val);


};

}

#endif // LASER_CB_DETECTOR_CB_LASER_BRIDGE_H_