cv_laser_bridge.cpp
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34 
36 
37 #include <ros/console.h>
39 
40 using namespace laser_cb_detector;
41 
42 bool CvLaserBridge::fromIntensity(const calibration_msgs::DenseLaserSnapshot& snapshot, float min_val, float max_val)
43 {
44  if (snapshot.num_scans * snapshot.readings_per_scan != snapshot.intensities.size())
45  {
46  ROS_ERROR("Got malformed snapshot. Expected [%u x %u]=%u, but snapshot.intensities.size()=%u",
47  snapshot.num_scans, snapshot.readings_per_scan,
48  snapshot.num_scans * snapshot.readings_per_scan,
49  snapshot.intensities.size());
50  return false;
51  }
52 
53  fromSnapshot(snapshot, snapshot.intensities, min_val, max_val);
54  return true;
55 }
56 
57 void CvLaserBridge::fromSnapshot(const calibration_msgs::DenseLaserSnapshot& snapshot, const std::vector<float>& src, float min_val, float max_val)
58 {
59  assert(snapshot.num_scans * snapshot.readings_per_scan == src.size());
60 
61  cv::Mat_<float> source_image(snapshot.num_scans, snapshot.readings_per_scan, const_cast<float*>(&(src[0])));
62 
63  double range = (max_val - min_val);
64  double scale = 255/range;
65  double shift = -min_val * 255/range;
66 
67  ROS_DEBUG("Scale: %f Shift: %f\n", scale, shift);
68 
69  source_image.convertTo(dest_image_, CV_8UC1, scale, shift);
70 }
laser_cb_detector::CvLaserBridge::fromIntensity
bool fromIntensity(const calibration_msgs::DenseLaserSnapshot &snapshot, float min_val, float max_val)
Definition: cv_laser_bridge.cpp:42
cv_laser_bridge.h
laser_cb_detector
Definition: cv_laser_bridge.h:43
laser_cb_detector::CvLaserBridge::fromSnapshot
void fromSnapshot(const calibration_msgs::DenseLaserSnapshot &snapshot, const std::vector< float > &src, float min_val, float max_val)
Definition: cv_laser_bridge.cpp:57
console.h
ROS_DEBUG
#define ROS_DEBUG(...)
ROS_ERROR
#define ROS_ERROR(...)
laser_cb_detector::CvLaserBridge::dest_image_
cv::Mat dest_image_
Definition: cv_laser_bridge.h:125


laser_cb_detector
Author(s): Vijay Pradeep
autogenerated on Tue Mar 1 2022 23:58:55