Merge pull request #983 from JuliaRobotics/23Q3/refac/moreros

refac toImage
JuliaRobotics · Sep 22, 2023 · 9ff48fe · 9ff48fe
2 parents 69be612 + c60a550
commit 9ff48fe
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Showing 4 changed files with 9 additions and 8 deletions.
diff --git a/ext/CaesarImagesExt.jl b/ext/CaesarImagesExt.jl
@@ -1,8 +1,5 @@
 module CaesarImagesExt
 
-@info "Loading Caesar tools related to Images.jl."
-
-
 using Images
 # using ImageTransformations
 using ColorVectorSpace
@@ -28,7 +25,7 @@ import GeometricalPredicates as GeoPr
 import ApproxManifoldProducts: sample, _update!
 import IncrementalInference: getSample, preambleCache, _update!, getManifold
 
-import Caesar: applyMaskImage, makeMaskImage, makeMaskImages, imhcatPretty, toImage
+import Caesar: applyMaskImage, makeMaskImage, makeMaskImages, imhcatPretty
 import Caesar: writevideo, csmAnimationJoinImgs, csmAnimateSideBySide, makeVideoFromData
 import Caesar: overlayScanMatcher
 import Caesar: overlayScatter, overlayScatterMutate
@@ -46,7 +43,7 @@ import Caesar: unionFeatureMountain, sortKeysMinSighting
 # NOTE usage requires ImageFeatures.jl
 import Caesar: curateFeatureTracks
 
-include("Images/ROSImageConversion.jl")
+
 include("Images/ImageMask.jl")
 include("Images/ImageToVideoUtils.jl")
 include("Images/ScanMatcherUtils.jl")

diff --git a/src/Caesar.jl b/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

diff --git a/src/ExportAPI.jl b/src/ExportAPI.jl
@@ -53,4 +53,6 @@ export packBlob, unpackBlob
 
 # imagedraw.jl
 export makeImage!
-export drawKeypointsAndMask
+export drawKeypointsAndMask
+
+export toImage
diff --git a/ext/Images/ROSImageConversion.jl → src/services/ToImage.jl b/ext/Images/ROSImageConversion.jl → src/services/ToImage.jl
@@ -3,7 +3,7 @@
 """
     $SIGNATURES
 
-Also see: [`toROSImage`](@ref)
+Also see: [`PyCaesar.toROSImage`](@ref)
 """
 function toImage(msgd::Dict{String,Any})
   data = haskey(msgd, "data_b64") ? base64decode(msgd["data_b64"]) : UInt8.(msgd["data"])
@@ -24,4 +24,4 @@ function toImage(msgd::Dict{String,Any})
   else
     error("Conversion for ROS sensor_msgs.Image encoding not implemented yet $(msgd["encoding"])")
   end
-end
+end