From 2466175b5fcfc2ce3b1560739600cc1749d8a50d Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Fri, 22 Sep 2023 04:08:23 -0700
Subject: [PATCH 1/2] refac more ros code

---
 ext/Images/ROSImageConversion.jl | 25 -------------------------
 src/Caesar.jl                    |  2 ++
 src/ExportAPI.jl                 |  4 +++-
 src/services/ToImage.jl          | 27 +++++++++++++++++++++++++++
 4 files changed, 32 insertions(+), 26 deletions(-)
 create mode 100644 src/services/ToImage.jl

diff --git a/ext/Images/ROSImageConversion.jl b/ext/Images/ROSImageConversion.jl
index a021d4f0a..139597f9c 100644
--- a/ext/Images/ROSImageConversion.jl
+++ b/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
diff --git a/src/Caesar.jl b/src/Caesar.jl
index d756609a2..5949a51a8 100644
--- 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
index cfe9610e0..16ea95ed2 100644
--- a/src/ExportAPI.jl
+++ b/src/ExportAPI.jl
@@ -53,4 +53,6 @@ export packBlob, unpackBlob
 
 # imagedraw.jl
 export makeImage!
-export drawKeypointsAndMask
\ No newline at end of file
+export drawKeypointsAndMask
+
+export toImage
\ No newline at end of file
diff --git a/src/services/ToImage.jl b/src/services/ToImage.jl
new file mode 100644
index 000000000..c2aeb7717
--- /dev/null
+++ b/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
\ No newline at end of file

From c60a550b5a43dd13f7215bd3bc5d25c44d7d7e3c Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Fri, 22 Sep 2023 04:11:27 -0700
Subject: [PATCH 2/2] refac toImage

---
 ext/CaesarImagesExt.jl           | 7 ++-----
 ext/Images/ROSImageConversion.jl | 2 --
 2 files changed, 2 insertions(+), 7 deletions(-)
 delete mode 100644 ext/Images/ROSImageConversion.jl

diff --git a/ext/CaesarImagesExt.jl b/ext/CaesarImagesExt.jl
index 65c134131..839830e78 100644
--- 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/ext/Images/ROSImageConversion.jl b/ext/Images/ROSImageConversion.jl
deleted file mode 100644
index 139597f9c..000000000
--- a/ext/Images/ROSImageConversion.jl
+++ /dev/null
@@ -1,2 +0,0 @@
-
-