mirror of
https://github.com/introlab/rtabmap.git
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54 lines
1.5 KiB
C++
54 lines
1.5 KiB
C++
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/*
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* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
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*
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* This file is part of RTAB-Map.
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*
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* RTAB-Map is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* RTAB-Map is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with RTAB-Map. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "qtipl.h"
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#include "utilite/ULogger.h"
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#include <opencv2/core/core_c.h>
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namespace rtabmap {
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// TODO : support only from gray 8bits ?
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QImage Ipl2QImage(const IplImage *newImage)
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{
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QImage qtemp;
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if (newImage && newImage->depth == IPL_DEPTH_8U && cvGetSize(newImage).width>0)
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{
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int x;
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int y;
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char* data = newImage->imageData;
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qtemp= QImage(newImage->width, newImage->height,QImage::Format_RGB32 );
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for( y = 0; y < newImage->height; y++, data +=newImage->widthStep )
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{
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for( x = 0; x < newImage->width; x++)
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{
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uint *p = (uint*)qtemp.scanLine (y) + x;
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*p = qRgb(data[x * newImage->nChannels+2], data[x * newImage->nChannels+1],data[x * newImage->nChannels]);
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}
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}
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}
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else
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{
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ULOGGER_ERROR("Wrong IplImage format");
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}
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return qtemp;
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}
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}
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