imageRotation.h

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_PORTMONITOR_IMAGEROTATION_H
#define YARP_PORTMONITOR_IMAGEROTATION_H
 
#include <yarp/os/Bottle.h>
#include <yarp/os/Things.h>
#include <yarp/os/MonitorObject.h>
#include <yarp/sig/Image.h>
#include <yarp/cv/Cv.h>
 
class ImageRotation : public yarp::os::MonitorObject
{
public:
    bool create(const yarp::os::Property& options) override;
    void destroy() override;
 
    bool setparam(const yarp::os::Property& params) override;
    bool getparam(yarp::os::Property& params) override;
 
    bool accept(yarp::os::Things& thing) override;
    yarp::os::Things& update(yarp::os::Things& thing) override;
 
    void getParamsFromCommandLine(std::string carrierString, yarp::os::Property& prop);
 
private:
 
    yarp::os::Bottle m_bt;
    yarp::os::Things m_th;
    yarp::sig::ImageOf<yarp::sig::PixelFloat> m_outImgFloat;
    yarp::sig::ImageOf<yarp::sig::PixelRgb> m_outImgRgb;
 
    std::string m_options_rotate_str = "rotate_cw";
    std::string m_options_flip_str = "flip_none";
    cv::RotateFlags m_rot_flags;
    int m_flip_code;
 
    cv::Mat m_cvInImage;
    cv::Mat m_cvOutImage1;
    cv::Mat m_cvOutImage2;
};
 
#endif  // YARP_PORTMONITOR_IMAGEROTATION_H