laser_cb_detector.cpp

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#include <laser_cb_detector/laser_cb_detector.h>
#include <ros/console.h>
#include <cv_bridge/cv_bridge.h>
//#include <highgui.h>

using namespace std;
using namespace laser_cb_detector;

LaserCbDetector::LaserCbDetector() : configured_(false) {}

bool LaserCbDetector::configure(const ConfigGoal& config)
{
  config_ = config;
  image_cb_detector::ConfigGoal image_cfg;
  // TODO: setup message

  image_cfg.num_x = config.num_x;
  image_cfg.num_y = config.num_y;
  image_cfg.spacing_x = config.spacing_x;
  image_cfg.spacing_y = config.spacing_y;

  image_cfg.width_scaling = config.width_scaling;
  image_cfg.height_scaling = config.height_scaling;

  image_cfg.subpixel_window = config.subpixel_window;
  image_cfg.subpixel_zero_zone = config.subpixel_zero_zone;

  detector_.configure(image_cfg);
  return true;
}

bool LaserCbDetector::detect(const calibration_msgs::DenseLaserSnapshot& snapshot,
                             calibration_msgs::CalibrationPattern& result)
{
  // ***** Convert the snapshot into an image, based on intensity window in config *****
  if(!bridge_.fromIntensity(snapshot, config_.min_intensity, config_.max_intensity))
    return false;
  cv::Mat image = bridge_.toCvMat();

  if (config_.flip_horizontal)
  {
    ROS_DEBUG("Flipping image");
    cv::flip(image, image, 1);
  }
  else
    ROS_DEBUG("Not flipping image");

  cv_bridge::CvImage cv_image(snapshot.header, "mono8", image);
  sensor_msgs::ImagePtr ros_image = cv_image.toImageMsg();
  if(detector_.detect(ros_image, result)){
    if (config_.flip_horizontal){
      for(int i=0; i < result.image_points.size(); i++)
        result.image_points[i].x = image.cols - result.image_points[i].x - 1;
    }
    return true;
  }else
    return false;
}

bool LaserCbDetector::getImage(const calibration_msgs::DenseLaserSnapshot& snapshot, sensor_msgs::Image& ros_image)
{
  if(!bridge_.fromIntensity(snapshot, config_.min_intensity, config_.max_intensity))
  {
    ROS_ERROR("Error building cv::Mat from DenseLaserSnapshot's intensity data");
    return false;
  }
  cv::Mat image = bridge_.toCvMat();

  cv_bridge::CvImage(snapshot.header, "mono8", image).toImageMsg(ros_image);

  return true;
}