/*
 * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
 *
 * This file is part of RTAB-Map.
 *
 * RTAB-Map is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * RTAB-Map is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "qtipl.h"
#include "utilite/ULogger.h"
#include <opencv2/core/core_c.h>

namespace rtabmap {

// TODO : support only from gray 8bits ?
QImage Ipl2QImage(const IplImage *newImage)
{
	QImage qtemp;
	if (newImage && newImage->depth == IPL_DEPTH_8U && cvGetSize(newImage).width>0)
	{
		int x;
		int y;
		char* data = newImage->imageData;
		
		qtemp= QImage(newImage->width, newImage->height,QImage::Format_RGB32 );
		for( y = 0; y < newImage->height; y++, data +=newImage->widthStep )
		{
			for( x = 0; x < newImage->width; x++)
			{
				uint *p = (uint*)qtemp.scanLine (y) + x;
				*p = qRgb(data[x * newImage->nChannels+2], data[x * newImage->nChannels+1],data[x * newImage->nChannels]);
			}
		}
	}
	else
	{
		ULOGGER_ERROR("Wrong IplImage format");
	}
 return qtemp;	
}

}