dense_laser_imager.cpp

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#include <ros/ros.h>
#include "sensor_msgs/Image.h"
#include "calibration_msgs/DenseLaserSnapshot.h"

using namespace std ;
using namespace ros ;


class LaserImager
{
public:

  LaserImager()
  {
    sub_ = n_.subscribe("dense_laser_snapshot", 1, &LaserImager::snapshotCallback, this) ;
    intensity_pub_ = n_.advertise<sensor_msgs::Image> ("dense_laser_intensity", 1) ;
    range_pub_ = n_.advertise<sensor_msgs::Image> ("dense_laser_intensity", 1) ;

  }

  void snapshotCallback(const calibration_msgs::DenseLaserSnapshotConstPtr& msg)
  {
    sensor_msgs::Image image ;
    const unsigned int N = msg->num_scans * msg->readings_per_scan ;


    image.header.stamp = msg->header.stamp ;
    image.encoding = "mono8" ;
    image.height = msg->num_scans;
    image.width = msg->readings_per_scan;
    image.step = msg->readings_per_scan;

    image.data.resize(msg->num_scans*msg->readings_per_scan) ;

    for(unsigned int i=0; i<N; i++)
    {
      image.data[i] = (unsigned int) ((fmin(3000, fmax(2000, msg->intensities[i])) - 2000) / 1000.0 * 255) ;
    }
    intensity_pub_.publish(image) ;
  }

private:
  NodeHandle n_ ;
  Subscriber sub_ ;
  Publisher intensity_pub_ ;
  Publisher range_pub_ ;

};

int main(int argc, char** argv)
{
  ros::init(argc, argv, "laser_imager") ;

  LaserImager imager ;

  ros::spin() ;

  return 0 ;
}