IFrameGrabberImage-inl.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IFRAMEGRABBERIMAGE_INL_H
#define YARP_DEV_IFRAMEGRABBERIMAGE_INL_H
 
#include <yarp/sig/ImageUtils.h>
#include <yarp/os/LogComponent.h>
 
YARP_DECLARE_LOG_COMPONENT(IFRAMEGRABBEROF)
 
namespace yarp::dev {
 
template <typename ImageType>
yarp::dev::ReturnValue IFrameGrabberOf<ImageType>::getImageCrop(yarp::dev::cropType_id_t cropType,
                                              std::vector<yarp::dev::vertex_t> vertices,
                                              ImageType& image)
{
    if (cropType == YARP_CROP_RECT) {
        if (vertices.size() != 2) {
            yCError(IFRAMEGRABBEROF, "GetImageCrop failed: RECT mode requires 2 vertices");
            return ReturnValue::return_code::return_value_error_method_failed;
        }
        ImageType full;
        yarp::dev::ReturnValue b = getImage(full);
        if (!b || full.width() == 0 || full.height() == 0)
        {
            yCError(IFRAMEGRABBEROF, "GetImageCrop failed: No image received");
            return ReturnValue::return_code::return_value_error_generic;
        }
 
        std::pair<unsigned int, unsigned int> v0;
        v0.first = vertices[0].x;
        v0.second = vertices[0].y;
        std::pair<unsigned int, unsigned int> v1;
        v1.first = vertices[1].x;
        v1.second = vertices[1].y;
        if (!yarp::sig::utils::cropRect(full, v0, v1, image)) {
            yCError(IFRAMEGRABBEROF, "GetImageCrop failed: utils::cropRect error: (%d, %d) (%d, %d)",
                    vertices[0].x,
                    vertices[0].y,
                    vertices[1].x,
                    vertices[1].y);
            return ReturnValue::return_code::return_value_error_method_failed;
        }
    } else if(cropType == YARP_CROP_LIST) {
        yCError(IFRAMEGRABBEROF, "List type not yet implemented");
        return ReturnValue::return_code::return_value_error_not_implemented_by_device;
    }
 
    return ReturnValue_ok;
}
 
} // namespace yarp::dev
 
#endif // YARP_DEV_IFRAMEGRABBERIMAGE_INL_H