joint_image_interpolator.cpp

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#include <opencv2/imgproc/imgproc.hpp>

#include <laser_joint_processor/joint_image_interpolator.h>
#include <ros/console.h>

using namespace laser_joint_processor;
using namespace std;

bool JointImageInterpolator::interp(const std::vector <geometry_msgs::Point>& points,
                                    cv::Mat_<cv::Vec2f> image, std::vector<float>& positions, std::vector<float>& velocities)
{
  const unsigned int N = points.size();

  // Allocate Maps
  cv::Mat_<float> map_x_mat(N, 1);
  cv::Mat_<float> map_y_mat(N, 1);

  // Set up maps
  for (unsigned int i=0; i<N; i++)
  {
    map_x_mat(i) = points[i].x;
    map_y_mat(i) = points[i].y;
  }

  // Allocate Destination Image
  cv::Mat_<cv::Vec2f> dest_mat(N, 1);

  // Perform the OpenCV interpolation
  cv::remap(image, dest_mat, map_x_mat, map_y_mat, cv::INTER_LINEAR, cv::BORDER_WRAP);

  // Copy results into output vectors
  positions.resize(N);
  velocities.resize(N);
  for (unsigned int i=0; i<N; i++)
  {
    positions[i]  = dest_mat(i)[0];
    velocities[i] = dest_mat(i)[1];
  }

  return true;
}


bool laser_joint_processor::interpSnapshot(const std::vector <geometry_msgs::Point>& points,
                                           const calibration_msgs::DenseLaserSnapshot& snapshot,
                                           std::vector<float>& angles,
                                           std::vector<float>& ranges)
{
  const unsigned int N = points.size();

  // Check to make sure points are in range
  for (unsigned int i=0; i<N; i++)
  {
    if (points[i].x < 0  ||
        points[i].x > snapshot.readings_per_scan-1 ||
        points[i].y < 0 ||
        points[i].y > snapshot.num_scans-1 )
    {
      return false;
    }
  }

  // Set up input image
  cv::Mat_<float> range_image(snapshot.num_scans, snapshot.readings_per_scan, const_cast<float*>(&snapshot.ranges[0]));

  // Allocate Maps
  cv::Mat_<float> map_x_mat(N, 1);
  cv::Mat_<float> map_y_mat(N, 1);

  // Set up maps
  for (unsigned int i=0; i<N; i++)
  {
    map_x_mat(i) = points[i].x;
    map_y_mat(i) = points[i].y;
  } 

  // Allocate Destination Image
  ranges.resize(N);
  cv::Mat_<float> ranges_mat(N, 1, &ranges[0]);

  // Perform the OpenCV interpolation
  cv::remap(range_image, ranges_mat, map_x_mat, map_y_mat, cv::INTER_LINEAR, cv::BORDER_WRAP);

  // Do angle interp manually
  angles.resize(N);
  for (unsigned int i=0; i<N; i++)
    angles[i] = snapshot.angle_min +  points[i].x*snapshot.angle_increment;

  return true;
}