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;
}

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());

  cv::Mat_<float> source_image(snapshot.num_scans, snapshot.readings_per_scan, const_cast<float*>(&(src[0])));

  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);

  source_image.convertTo(dest_image_, CV_8UC1, scale, shift);
}