DepthImageVec.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include "DepthImageVec.h"
 
#include <algorithm>
#include <cmath>
 
#include <yarp/os/LogComponent.h>
#include <yarp/sig/Image.h>
 
using namespace yarp::os;
using namespace yarp::sig;
 
namespace {
YARP_LOG_COMPONENT(DEPTHIMAGE,
                   "yarp.carrier.portmonitor.depthimage_to_vector",
                   yarp::os::Log::minimumPrintLevel(),
                   yarp::os::Log::LogTypeReserved,
                   yarp::os::Log::printCallback(),
                   nullptr)
}
 
bool DepthImageConverterVec::create(const yarp::os::Property& options)
{
    return true;
}
 
void DepthImageConverterVec::destroy()
{
}
 
bool DepthImageConverterVec::setparam(const yarp::os::Property& params)
{
    return false;
}
 
bool DepthImageConverterVec::getparam(yarp::os::Property& params)
{
    return false;
}
 
bool DepthImageConverterVec::accept(yarp::os::Things& thing)
{
    auto* img = thing.cast_as<Image>();
    if(img == nullptr) {
        yCError(DEPTHIMAGE, "Expected type FlexImage but got wrong data type!");
        return false;
    }
 
    if( img->getPixelCode() == VOCAB_PIXEL_MONO_FLOAT)
    {
        return true;
    }
 
    yCError(DEPTHIMAGE,
            "Expected %s, got %s, not doing any conversion!",
            yarp::os::Vocab32::decode(VOCAB_PIXEL_MONO_FLOAT).c_str(),
            yarp::os::Vocab32::decode(img->getPixelCode()).c_str() );
    return false;
}
 
yarp::os::Things& DepthImageConverterVec::update(yarp::os::Things& thing)
{
    auto* img = thing.cast_as<Image>();
 
    outVec.resize(img->width()* img->height());
 
    auto* inPixels = reinterpret_cast<float *> (img->getRawImage());
    std::copy(inPixels, inPixels + outVec.size(), outVec.begin());
 
    th.setPortWriter(&outVec);
    return th;
}