stereo_image.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

/*---------------------------------------------------------------
    APPLICATION: mrpt_ros bridge
    FILE: stereo_image.cpp
    AUTHOR: Raghavender Sahdev <raghavendersahdev@gmail.com>
  ---------------------------------------------------------------*/

#include <cv_bridge/cv_bridge.h>
#include <mrpt/ros1bridge/image.h>
#include <mrpt/ros1bridge/stereo_image.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>

using namespace ros;
using namespace sensor_msgs;
using namespace cv;
using namespace cv_bridge;

namespace mrpt::ros1bridge
{
bool toROS(
    const mrpt::obs::CObservationStereoImages& obj,
    const std_msgs::Header& msg_header, sensor_msgs::Image& left,
    sensor_msgs::Image& right, stereo_msgs::DisparityImage& disparity)
{
    // left image
    const Mat& cvImgL = obj.imageLeft.asCvMatRef();

    cv_bridge::CvImage img_bridge;
    img_bridge =
        CvImage(left.header, sensor_msgs::image_encodings::BGR8, cvImgL);
    img_bridge.toImageMsg(left);
    left.encoding = "bgr8";
    left.header = msg_header;
    left.height = obj.imageLeft.getHeight();
    left.width = obj.imageLeft.getWidth();

    // right image
    const Mat& cvImgR = obj.imageLeft.asCvMatRef();

    cv_bridge::CvImage img_bridge2;
    img_bridge2 =
        CvImage(right.header, sensor_msgs::image_encodings::BGR8, cvImgR);
    img_bridge2.toImageMsg(right);
    right.encoding = "bgr8";
    right.header = msg_header;
    right.height = obj.imageRight.getHeight();
    right.width = obj.imageRight.getWidth();

    if (obj.hasImageDisparity)
    {
        const Mat& cvImgD = obj.imageDisparity.asCvMatRef();

        cv_bridge::CvImage img_bridge3;
        img_bridge3 = CvImage(
            disparity.header, sensor_msgs::image_encodings::BGR8, cvImgD);
        img_bridge3.toImageMsg(disparity.image);
        disparity.image.encoding = "bgr8";
        disparity.image.header = msg_header;
        disparity.image.height = obj.imageDisparity.getHeight();
        disparity.image.width = obj.imageDisparity.getWidth();
    }
    return true;
}
}  // namespace mrpt::ros1bridge

//
/*
std_msgs/Header header
uint32 height
uint32 width
string encoding
uint8 is_bigendian
uint32 step
uint8[] data
 */