cv_laser_bridge.cpp
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00034 
00036 
00037 #include <ros/console.h>
00038 #include <laser_cb_detector/cv_laser_bridge.h>
00039 
00040 using namespace laser_cb_detector;
00041 
00042 bool CvLaserBridge::fromIntensity(const calibration_msgs::DenseLaserSnapshot& snapshot, float min_val, float max_val)
00043 {
00044   if (snapshot.num_scans * snapshot.readings_per_scan != snapshot.intensities.size())
00045   {
00046     ROS_ERROR("Got malformed snapshot. Expected [%u x %u]=%u, but snapshot.intensities.size()=%u",
00047               snapshot.num_scans, snapshot.readings_per_scan,
00048               snapshot.num_scans * snapshot.readings_per_scan,
00049               snapshot.intensities.size());
00050     return false;
00051   }
00052 
00053   fromSnapshot(snapshot, snapshot.intensities, min_val, max_val);
00054   return true;
00055 }
00056 
00057 void CvLaserBridge::fromSnapshot(const calibration_msgs::DenseLaserSnapshot& snapshot, const std::vector<float>& src, float min_val, float max_val)
00058 {
00059   assert(snapshot.num_scans * snapshot.readings_per_scan == src.size());
00060 
00061   cv::Mat_<float> source_image(snapshot.num_scans, snapshot.readings_per_scan, const_cast<float*>(&(src[0])));
00062 
00063   double range = (max_val - min_val);
00064   double scale = 255/range;
00065   double shift = -min_val * 255/range;
00066 
00067   ROS_DEBUG("Scale: %f   Shift: %f\n", scale, shift);
00068 
00069   source_image.convertTo(dest_image_, CV_8UC1, scale, shift);
00070 }


laser_cb_detector
Author(s): Vijay Pradeep
autogenerated on Wed Aug 26 2015 10:56:07