vpImageConvert_yarp.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Convert image types.
 */
 
#include <visp3/core/vpConfig.h>
 
#ifdef VISP_HAVE_YARP
 
#include <visp3/core/vpImageConvert.h>
 
BEGIN_VISP_NAMESPACE
void vpImageConvert::convert(const vpImage<unsigned char> &src, yarp::sig::ImageOf<yarp::sig::PixelMono> *dest,
                             bool copyData)
{
  if (copyData) {
    dest->resize(src.getWidth(), src.getHeight());
    for (unsigned int i = 0; i < src.getHeight(); ++i) {
      for (unsigned int j = 0; j < src.getWidth(); ++j) {
        dest->pixel(j, i) = src[i][j];
      }
    }
  }
  else {
    dest->setExternal(src.bitmap, static_cast<int>(src.getCols()), static_cast<int>(src.getRows()));
  }
}
 
void vpImageConvert::convert(const yarp::sig::ImageOf<yarp::sig::PixelMono> *src, vpImage<unsigned char> &dest,
                             bool copyData)
{
  dest.resize(src->height(), src->width());
  (void)(copyData);
  for (unsigned int i = 0; i < dest.getHeight(); ++i) {
    for (unsigned int j = 0; j < dest.getWidth(); ++j) {
      dest[i][j] = src->pixel(j, i);
    }
  }
}
 
void vpImageConvert::convert(const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp::sig::PixelRgba> *dest, bool copyData)
{
  if (copyData) {
    dest->resize(src.getWidth(), src.getHeight());
    memcpy(dest->getRawImage(), src.bitmap, src.getHeight() * src.getWidth() * sizeof(vpRGBa));
  }
  else {
    dest->setExternal(src.bitmap, static_cast<int>(src.getCols()), static_cast<int>(src.getRows()));
  }
}
 
void vpImageConvert::convert(const yarp::sig::ImageOf<yarp::sig::PixelRgba> *src, vpImage<vpRGBa> &dest, bool copyData)
{
  dest.resize(src->height(), src->width());
  (void)(copyData);
  for (unsigned int i = 0; i < dest.getHeight(); ++i) {
    for (unsigned int j = 0; j < dest.getWidth(); ++j) {
      dest[i][j].R = src->pixel(j, i).r;
      dest[i][j].G = src->pixel(j, i).g;
      dest[i][j].B = src->pixel(j, i).b;
      dest[i][j].A = src->pixel(j, i).a;
    }
  }
}
 
void vpImageConvert::convert(const vpImage<vpRGBa> &src, yarp::sig::ImageOf<yarp::sig::PixelRgb> *dest)
{
  const unsigned int srcRows = src.getRows(), srcWidth = src.getWidth();
  dest->resize(src.getWidth(), src.getHeight());
  for (unsigned int i = 0; i < srcRows; ++i) {
    for (unsigned int j = 0; j < srcWidth; ++j) {
      dest->pixel(j, i).r = src[i][j].R;
      dest->pixel(j, i).g = src[i][j].G;
      dest->pixel(j, i).b = src[i][j].B;
    }
  }
}
 
void vpImageConvert::convert(const yarp::sig::ImageOf<yarp::sig::PixelRgb> *src, vpImage<vpRGBa> &dest)
{
  const int srcHeight = src->height(), srcWidth = src->width();
  dest.resize(srcHeight, srcWidth);
  for (int i = 0; i < srcHeight; ++i) {
    for (int j = 0; j < srcWidth; ++j) {
      dest[i][j].R = src->pixel(j, i).r;
      dest[i][j].G = src->pixel(j, i).g;
      dest[i][j].B = src->pixel(j, i).b;
      dest[i][j].A = vpRGBa::alpha_default;
    }
  }
}
 
END_VISP_NAMESPACE
 
#endif