refac more ros code

ext/Images/ROSImageConversion.jl

@@ -1,27 +1,2 @@
 
 
-"""
-    $SIGNATURES
-
-Also see: [`toROSImage`](@ref)
-"""
-function toImage(msgd::Dict{String,Any})
-  data = haskey(msgd, "data_b64") ? base64decode(msgd["data_b64"]) : UInt8.(msgd["data"])
-  h, w = msgd["height"], msgd["width"]
-  @show h, w, msgd["step"]
-  if msgd["encoding"] == "mono8" || msgd["encoding"] == "8UC1"
-    # img_ = normedview(N0f8, data)
-    # reshape(img_, w, h)'
-    img = Matrix{Gray{N0f8}}(undef, h, w)
-    # assuming one endian type for now, TODO both little and big endian
-    for i in 1:h, j in 1:w
-      img[i,j] = Gray{N0f8}(data[msgd["step"]*(i-1)+j]/(2^8 - 1))
-    end
-    img
-  elseif msgd["encoding"] == "mono16" || msgd["encoding"] == "16UC1"
-    img_ = normedview(N0f16, data)
-    reshape(img_, w, h)'
-  else
-    error("Conversion for ROS sensor_msgs.Image encoding not implemented yet $(msgd["encoding"])")
-  end
-end

src/Caesar.jl

@@ -80,6 +80,8 @@ include("beamforming/MatchedFilter.jl")
 include("beamforming/SASBearing2D.jl")
 include("beamforming/SASUtils.jl")
 
+include("services/ToImage.jl")
+
 include("3rdParty/_PCL/_PCL.jl")
 
 # object affordance work

src/ExportAPI.jl

@@ -53,4 +53,6 @@ export packBlob, unpackBlob
 
 # imagedraw.jl
 export makeImage!
-export drawKeypointsAndMask
+export drawKeypointsAndMask
+
+export toImage

src/services/ToImage.jl

@@ -0,0 +1,27 @@
+
+
+"""
+    $SIGNATURES
+
+Also see: [`PyCaesar.toROSImage`](@ref)
+"""
+function toImage(msgd::Dict{String,Any})
+  data = haskey(msgd, "data_b64") ? base64decode(msgd["data_b64"]) : UInt8.(msgd["data"])
+  h, w = msgd["height"], msgd["width"]
+  @show h, w, msgd["step"]
+  if msgd["encoding"] == "mono8" || msgd["encoding"] == "8UC1"
+    # img_ = normedview(N0f8, data)
+    # reshape(img_, w, h)'
+    img = Matrix{Gray{N0f8}}(undef, h, w)
+    # assuming one endian type for now, TODO both little and big endian
+    for i in 1:h, j in 1:w
+      img[i,j] = Gray{N0f8}(data[msgd["step"]*(i-1)+j]/(2^8 - 1))
+    end
+    img
+  elseif msgd["encoding"] == "mono16" || msgd["encoding"] == "16UC1"
+    img_ = normedview(N0f16, data)
+    reshape(img_, w, h)'
+  else
+    error("Conversion for ROS sensor_msgs.Image encoding not implemented yet $(msgd["encoding"])")
+  end
+end