ros2PixelCode.cpp

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/*
 * SPDX-FileCopyrightText: 2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include "ros2PixelCode.h"
 
namespace yarp {
    namespace dev {
        namespace ROS2PixelCode {
 
std::string yarpToRos2PixelCode(int code)
{
    switch (code)
    {
    case VOCAB_PIXEL_BGR:
        return BGR8;
    case VOCAB_PIXEL_BGRA:
        return BGRA8;
    case VOCAB_PIXEL_ENCODING_BAYER_BGGR16:
        return BAYER_BGGR16;
    case VOCAB_PIXEL_ENCODING_BAYER_BGGR8:
        return BAYER_BGGR8;
    case VOCAB_PIXEL_ENCODING_BAYER_GBRG16:
        return BAYER_GBRG16;
    case VOCAB_PIXEL_ENCODING_BAYER_GBRG8:
        return BAYER_GBRG8;
    case VOCAB_PIXEL_ENCODING_BAYER_GRBG16:
        return BAYER_GRBG16;
    case VOCAB_PIXEL_ENCODING_BAYER_GRBG8:
        return BAYER_GRBG8;
    case VOCAB_PIXEL_ENCODING_BAYER_RGGB16:
        return BAYER_RGGB16;
    case VOCAB_PIXEL_ENCODING_BAYER_RGGB8:
        return BAYER_RGGB8;
    case VOCAB_PIXEL_MONO:
        return MONO8;
    case VOCAB_PIXEL_MONO16:
        return MONO16;
    case VOCAB_PIXEL_RGB:
        return RGB8;
    case VOCAB_PIXEL_RGBA:
        return RGBA8;
    case VOCAB_PIXEL_MONO_FLOAT:
        return TYPE_32FC1;
    default:
        return RGB8;
    }
}
 
int Ros2ToYarpPixelCode(const std::string& roscode)
{
    if (roscode == BGR8)
        return VOCAB_PIXEL_BGR;
    else if (roscode == BGRA8)
        return VOCAB_PIXEL_BGRA;
    else if (roscode == BAYER_BGGR8)
        return VOCAB_PIXEL_ENCODING_BAYER_BGGR8;
    else if (roscode == BAYER_GBRG16)
        return VOCAB_PIXEL_ENCODING_BAYER_GBRG16;
    else if (roscode == BAYER_GBRG8)
        return VOCAB_PIXEL_ENCODING_BAYER_GBRG8;
    else if (roscode == BAYER_GRBG16)
        return VOCAB_PIXEL_ENCODING_BAYER_GRBG16;
    else if (roscode == BAYER_GRBG8)
        return VOCAB_PIXEL_ENCODING_BAYER_GRBG8;
    else if (roscode == BAYER_RGGB16)
        return VOCAB_PIXEL_ENCODING_BAYER_RGGB16;
    else if (roscode == BAYER_RGGB8)
        return VOCAB_PIXEL_ENCODING_BAYER_RGGB8;
    else if (roscode == MONO8)
        return VOCAB_PIXEL_MONO;
    else if (roscode == MONO16)
        return VOCAB_PIXEL_MONO16;
    else if (roscode == RGB8)
        return VOCAB_PIXEL_RGB;
    else if (roscode == RGBA8)
        return VOCAB_PIXEL_RGBA;
    else if (roscode == TYPE_32FC1)
        return VOCAB_PIXEL_MONO_FLOAT;
    else
        return VOCAB_PIXEL_INVALID;
}
 
}}}