YARP
Yet Another Robot Platform
SegmentationImage.cpp
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6#include "SegmentationImage.h"
7
8#include <algorithm>
9#include <cmath>
10
11#include <yarp/os/LogComponent.h>
12#include <yarp/sig/Image.h>
13
14using namespace yarp::os;
15using namespace yarp::sig;
16
17namespace {
18YARP_LOG_COMPONENT(SEGMENTATIONIMAGE,
19 "yarp.carrier.portmonitor.segmentationimage_to_rgb",
20 yarp::os::Log::minimumPrintLevel(),
21 yarp::os::Log::LogTypeReserved,
22 yarp::os::Log::printCallback(),
23 nullptr)
24}
25
26
27rgbColor string2color(std::string colorstring)
28{
29 rgbColor c;
30 c.r = strtol(colorstring.substr(0, 2).c_str(), NULL, 16);
31 c.g = strtol(colorstring.substr(2, 2).c_str(), NULL, 16);
32 c.b = strtol(colorstring.substr(4, 2).c_str(), NULL, 16);
33 return c;
34}
35
36bool SegmentationImageConverter::create(const yarp::os::Property& options)
37{
38 outImg.setPixelCode(VOCAB_PIXEL_MONO);
39
40 size_t index = 0;
41 colormap[index++] = string2color("000000");
42 colormap[index++] = string2color("00FF00");
43 colormap[index++] = string2color("0000FF");
44 colormap[index++] = string2color("FF0000");
45 colormap[index++] = string2color("01FFFE");
46 colormap[index++] = string2color("FFA6FE");
47 colormap[index++] = string2color("FFDB66");
48 colormap[index++] = string2color("006401");
49 colormap[index++] = string2color("010067");
50 colormap[index++] = string2color("95003A");
51 colormap[index++] = string2color("007DB5");
52 colormap[index++] = string2color("FF00F6");
53 colormap[index++] = string2color("FFEEE8");
54 colormap[index++] = string2color("774D00");
55 colormap[index++] = string2color("90FB92");
56 colormap[index++] = string2color("0076FF");
57 colormap[index++] = string2color("D5FF00");
58 colormap[index++] = string2color("FF937E");
59 colormap[index++] = string2color("6A826C");
60 colormap[index++] = string2color("FF029D");
61 colormap[index++] = string2color("FE8900");
62 colormap[index++] = string2color("7A4782");
63 colormap[index++] = string2color("7E2DD2");
64 colormap[index++] = string2color("85A900");
65 colormap[index++] = string2color("FF0056");
66 colormap[index++] = string2color("A42400");
67 colormap[index++] = string2color("00AE7E");
68 colormap[index++] = string2color("683D3B");
69 colormap[index++] = string2color("BDC6FF");
70 colormap[index++] = string2color("263400");
71 colormap[index++] = string2color("BDD393");
72 colormap[index++] = string2color("00B917");
73 colormap[index++] = string2color("9E008E");
74 colormap[index++] = string2color("001544");
75 colormap[index++] = string2color("C28C9F");
76 colormap[index++] = string2color("FF74A3");
77 colormap[index++] = string2color("01D0FF");
78 colormap[index++] = string2color("004754");
79 colormap[index++] = string2color("E56FFE");
80 colormap[index++] = string2color("788231");
81 colormap[index++] = string2color("0E4CA1");
82 colormap[index++] = string2color("91D0CB");
83 colormap[index++] = string2color("BE9970");
84 colormap[index++] = string2color("968AE8");
85 colormap[index++] = string2color("BB8800");
86 colormap[index++] = string2color("43002C");
87 colormap[index++] = string2color("DEFF74");
88 colormap[index++] = string2color("00FFC6");
89 colormap[index++] = string2color("FFE502");
90 colormap[index++] = string2color("620E00");
91 colormap[index++] = string2color("008F9C");
92 colormap[index++] = string2color("98FF52");
93 colormap[index++] = string2color("7544B1");
94 colormap[index++] = string2color("B500FF");
95 colormap[index++] = string2color("00FF78");
96 colormap[index++] = string2color("FF6E41");
97 colormap[index++] = string2color("005F39");
98 colormap[index++] = string2color("6B6882");
99 colormap[index++] = string2color("5FAD4E");
100 colormap[index++] = string2color("A75740");
101 colormap[index++] = string2color("A5FFD2");
102 colormap[index++] = string2color("FFB167");
103 colormap[index++] = string2color("009BFF");
104 colormap[index++] = string2color("E85EBE");
105 max_colors=index;
106
107 return true;
108}
109
110void SegmentationImageConverter::destroy()
111{
112}
113
114bool SegmentationImageConverter::setparam(const yarp::os::Property& params)
115{
116 return false;
117}
118
119bool SegmentationImageConverter::getparam(yarp::os::Property& params)
120{
121 return false;
122}
123
124bool SegmentationImageConverter::accept(yarp::os::Things& thing)
125{
126 yarp::sig::Image* img = thing.cast_as<Image>();
127 if(img == nullptr)
128 {
129 yCError(SEGMENTATIONIMAGE, "SegmentationImageConverter: expected type FlexImage but got wrong data type!");
130 return false;
131 }
132
133 if( img->getPixelCode() == VOCAB_PIXEL_MONO || img->getPixelCode() == VOCAB_PIXEL_MONO16)
134 {
135 return true;
136 }
137
138 yCError(SEGMENTATIONIMAGE,
139 "SegmentationImageConverter: expected %s or %s, got %s, not doing any conversion!",
140 yarp::os::Vocab32::decode(VOCAB_PIXEL_MONO).c_str(),
141 yarp::os::Vocab32::decode(VOCAB_PIXEL_MONO16).c_str(),
142 yarp::os::Vocab32::decode(img->getPixelCode()).c_str() );
143 return false;
144}
145
146yarp::os::Things& SegmentationImageConverter::update(yarp::os::Things& thing)
147{
148 yarp::sig::Image* img = thing.cast_as<Image>();
149 int pixcode = img->getPixelCode();
150
151 outImg.setPixelCode(VOCAB_PIXEL_RGB);
152 outImg.setPixelSize(3);
153 outImg.resize(img->width(), img->height());
154 outImg.zero();
155 unsigned char* outPixels = outImg.getRawImage();
156
157
158
159 for(size_t h=0; h<img->height(); h++)
160 {
161 for(size_t w=0; w<img->width(); w++)
162 {
163 int inVal = 0;
164 if (pixcode == VOCAB_PIXEL_MONO)
165 {
166 char* inPixels = reinterpret_cast<char*> (img->getRawImage());
167 inVal = (int) inPixels[w + (h * img->width())];
168 }
169 else if (pixcode == VOCAB_PIXEL_MONO16)
170 {
171 short int* inPixels = reinterpret_cast<short int*> (img->getRawImage());
172 inVal = inPixels[w + (h * img->width())];
173 }
174 int index = inVal % max_colors;
175 outPixels[w*3 + (h * (img->width()*3 )) + 0] = colormap[index].r;
176 outPixels[w*3 + (h * (img->width()*3 )) + 1] = colormap[index].g;
177 outPixels[w*3 + (h * (img->width()*3 )) + 2] = colormap[index].b;
178 }
179 }
180 th.setPortWriter(&outImg);
181 return th;
182}
string2color
rgbColor string2color(std::string colorstring)
Definition: SegmentationImage.cpp:27
SegmentationImageConverter::accept
bool accept(yarp::os::Things &thing) override
This will be called when the data reach the portmonitor object.
Definition: SegmentationImage.cpp:124
SegmentationImageConverter::destroy
void destroy() override
This will be called when the portmonitor object destroyes.
Definition: SegmentationImage.cpp:110
SegmentationImageConverter::setparam
bool setparam(const yarp::os::Property &params) override
This will be called when the portmonitor carrier parameters are set via YARP admin port.
Definition: SegmentationImage.cpp:114
SegmentationImageConverter::update
yarp::os::Things & update(yarp::os::Things &thing) override
After data get accpeted in the accept() callback, an instance of that is given to the update function...
Definition: SegmentationImage.cpp:146
SegmentationImageConverter::getparam
bool getparam(yarp::os::Property &params) override
This will be called when the portmonitor carrier parameters are requested via YARP admin port.
Definition: SegmentationImage.cpp:119
SegmentationImageConverter::create
bool create(const yarp::os::Property &options) override
This will be called when the dll is properly loaded by the portmonitor carrier.
Definition: SegmentationImage.cpp:36
yarp::os::Log::printCallback
static LogCallback printCallback()
Get current print callback.
Definition: Log.cpp:880
yarp::os::Log::minimumPrintLevel
static LogType minimumPrintLevel()
Get current minimum print level.
Definition: Log.cpp:833
yarp::os::Log::LogTypeReserved
@ LogTypeReserved
Definition: Log.h:97
yarp::os::Property
A class for storing options and configuration information.
Definition: Property.h:33
yarp::os::Things
Base class for generic things.
Definition: Things.h:18
yarp::os::Things::cast_as
T * cast_as()
Definition: Things.h:53
yarp::os::Things::setPortWriter
void setPortWriter(yarp::os::PortWriter *writer)
Set the reference to a PortWriter object.
Definition: Things.cpp:26
yarp::sig::FlexImage::setPixelCode
void setPixelCode(int imgPixelCode)
Definition: Image.h:414
yarp::sig::FlexImage::setPixelSize
void setPixelSize(size_t imgPixelSize)
Definition: Image.h:419
yarp::sig::Image
Base class for storing images.
Definition: Image.h:79
yarp::sig::Image::width
size_t width() const
Gets width of image in pixels.
Definition: Image.h:163
yarp::sig::Image::getRawImage
unsigned char * getRawImage() const
Access to the internal image buffer.
Definition: Image.cpp:542
yarp::sig::Image::resize
void resize(size_t imgWidth, size_t imgHeight)
Reallocate an image to be of a desired size, throwing away its current contents.
Definition: Image.cpp:453
yarp::sig::Image::zero
void zero()
Set all pixels to 0.
Definition: Image.cpp:446
yarp::sig::Image::height
size_t height() const
Gets height of image in pixels.
Definition: Image.h:169
yarp::sig::Image::getPixelCode
virtual int getPixelCode() const
Gets pixel type identifier.
Definition: Image.cpp:441
LogComponent.h
yCError
#define yCError(component,...)
Definition: LogComponent.h:213
YARP_LOG_COMPONENT
#define YARP_LOG_COMPONENT(name,...)
Definition: LogComponent.h:76
Image.h
VOCAB_PIXEL_MONO16
@ VOCAB_PIXEL_MONO16
Definition: Image.h:43
VOCAB_PIXEL_MONO
@ VOCAB_PIXEL_MONO
Definition: Image.h:42
VOCAB_PIXEL_RGB
@ VOCAB_PIXEL_RGB
Definition: Image.h:44
yarp::os::Vocab32::decode
std::string decode(NetInt32 code)
Convert a vocabulary identifier into a string.
Definition: Vocab.cpp:33
yarp::os
An interface to the operating system, including Port based communication.
Definition: AbstractCarrier.h:13