stereo_image.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
/*---------------------------------------------------------------
        APPLICATION: mrpt_ros bridge
        FILE: stereo_image.cpp
        AUTHOR: Raghavender Sahdev <raghavendersahdev@gmail.com>
  ---------------------------------------------------------------*/
 
#include "ros/ros.h"
#include "mrpt_bridge/stereo_image.h"
#include "mrpt_bridge/image.h"
#include <opencv/highgui.h>
#include <cv_bridge/cv_bridge.h>
 
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
 
#include <mrpt/version.h>
#if MRPT_VERSION >= 0x199
using namespace mrpt::img;
#else
using namespace mrpt::utils;
#endif
 
using namespace ros;
using namespace sensor_msgs;
using namespace cv;
using namespace cv_bridge;
 
namespace mrpt_bridge
{
namespace stereo_image
{
/*bool ros2mrpt(const sensor_msgs::Image &msg,  CObservationImage &obj)
{
        CvImage *frame1 = cv_bridge::toCvCopy(msg, "bgr8").get();
//CvShare(msg,"bgr8").image;
 
}
*/
/************************************************************************
 *                                              mrpt2ros                                                                *
 ************************************************************************/
bool mrpt2ros(
        const CObservationStereoImages& obj, const std_msgs::Header& msg_header,
        sensor_msgs::Image& left, sensor_msgs::Image& right,
        stereo_msgs::DisparityImage& disparity)
{
        CImage temp_img = obj.imageLeft;
#if MRPT_VERSION>=0x199
        Mat cvImg = temp_img.asCvMatRef();
#else
        Mat cvImg = cv::cvarrToMat(temp_img.getAs<IplImage>());
#endif
        cv_bridge::CvImage img_bridge;
        img_bridge =
                CvImage(left.header, sensor_msgs::image_encodings::BGR8, cvImg);
        img_bridge.toImageMsg(left);
        left.encoding = "bgr8";
        left.header = msg_header;
        left.height = (int)obj.imageLeft.getHeight();
        left.width = (int)obj.imageRight.getWidth();
 
        CImage temp_img2 = obj.imageRight;
#if MRPT_VERSION>=0x199
        Mat cvImg2 = temp_img2.asCvMatRef();
#else
        Mat cvImg2 = cv::cvarrToMat(temp_img2.getAs<IplImage>());
#endif
        cv_bridge::CvImage img_bridge2;
        img_bridge2 =
                CvImage(right.header, sensor_msgs::image_encodings::BGR8, cvImg2);
        img_bridge2.toImageMsg(right);
        right.encoding = "bgr8";
        right.header = msg_header;
        right.height = (int)obj.imageLeft.getHeight();
        right.width = (int)obj.imageRight.getWidth();
 
        if (obj.hasImageDisparity)
        {
                CImage temp_disp = obj.imageDisparity;
#if MRPT_VERSION>=0x199
                Mat cvImg3 = temp_disp.asCvMatRef();
#else
                Mat cvImg3 = cv::cvarrToMat(temp_disp.getAs<IplImage>());
#endif
                cv_bridge::CvImage img_bridge3;
                img_bridge3 = CvImage(
                        disparity.header, sensor_msgs::image_encodings::BGR8, cvImg3);
                img_bridge3.toImageMsg(disparity.image);
                disparity.image.encoding = "bgr8";
                disparity.image.header = msg_header;
                disparity.image.height = (int)obj.imageDisparity.getHeight();
                disparity.image.width = (int)obj.imageDisparity.getWidth();
        }
        return true;
}
}  // namespace stereo_image
}  // namespace mrpt_bridge
 
//
/*
std_msgs/Header header
uint32 height
uint32 width
string encoding
uint8 is_bigendian
uint32 step
uint8[] data
 */