refac toImage

ext/PyCaesarRobotOSExt.jl

@@ -20,19 +20,21 @@ using StaticArrays
 
 # dont load Caesar until after rostypegen
 using Caesar
-# import Caesar: unmarshal
+
+import Base: convert
 
 # FIXME DEPRECATE UPGRADE TBD
 import Unmarshal: unmarshal
+# import Caesar: unmarshal
 
 import Caesar._PCL as _PCL
-
-import Base: convert
+import Caesar: toImage
 
 # weakdeps type and memver prototype import for overwritten definition pattern 
 import PyCaesar: RosbagSubscriber, RosbagWriter
 import PyCaesar: loop!, getROSPyMsgTimestamp, nanosecond2datetime
 import PyCaesar: handleMsg!, handleMsg_OVRLPRECOMP!
+import PyCaesar: toImage, toROSImage
 
 ##
 

ext/services/ROSConversions.jl

@@ -18,3 +18,51 @@ function unmarshal(
 end
 
 
+
+function unmarshal(
+  msg::sensor_msgs.msg.Image
+)
+  Dict{String,Any}(
+    "width"  => Int(msg.width),
+    "height" => Int(msg.height),
+    "step" => Int(msg.step),
+    "data" => msg.data, # base64encode(
+    "encoding" => msg.encoding,
+    "is_bigendian" => msg.is_bigendian === 0x01,
+    "header" => unmarshal(msg.header),
+    "_type" => "ROS1/sensor_msgs/Image",
+    "description" => "Caesar.toImage(JSON.parse(jstr))"
+  )
+end
+
+
+toImage(msg::sensor_msgs.msg.Image) = unmarshal(msg) |> toImage
+
+
+"""
+    $SIGNATURES
+
+Convert `Caesar.Image::Dict` type to ROS message `sensor_msgs.msg.Image`.
+
+See also: [`Caesar.unmarshal`](@ref), [`Caesar.toImage`](@ref), [`Caesar._PCL.toROSPointCloud2`](@ref)
+"""
+function toROSImage(msgd::Dict{String,Any})
+  header = std_msgs.msg.Header();
+  header.seq = msgd["header"]["seq"]
+  header.stamp = RobotOS.Time(msgd["header"]["stamp"]["secs"], msgd["header"]["stamp"]["nsecs"])
+  header.frame_id = msgd["header"]["frame_id"]
+
+  msg = sensor_msgs.msg.Image();
+
+  msg.header = header
+  msg.height = UInt32(msgd["height"])
+  msg.width  = UInt32(msgd["width"])
+
+  msg.is_bigendian = UInt8(msgd["is_bigendian"])
+  msg.step = UInt32(msgd["step"])
+  msg.data = UInt8.(msgd["data"]) # base64decode( )
+  msg.encoding = msgd["encoding"]
+
+  msg
+end
+#

ext/services/WeakdepsPrototypes.jl

@@ -17,4 +17,5 @@ function handleMsg! end
 function handleMsg_OVRLPRECOMP! end
 function loop! end
 function getROSPyMsgTimestamp end
-function nanosecond2datetime end
+function nanosecond2datetime end
+function toROSImage end