DepthImage2.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_CARRIER_DEPTHIMAGE2_CONVERTER_H
#define YARP_CARRIER_DEPTHIMAGE2_CONVERTER_H
 
#include <yarp/os/Bottle.h>
#include <yarp/os/Things.h>
#include <yarp/os/MonitorObject.h>
#include <yarp/sig/Image.h>
 
//example usage:
//yarp connect /grabber/depth:o /yarpview/img:i tcp+recv.portmonitor+type.dll+file.depthimage2
 
class DepthImageConverter : 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;
 
private:
 
    double min, max;
    yarp::os::Bottle bt;
    yarp::os::Things th;
    yarp::sig::FlexImage outImg;
};
 
#endif  // YARP_CARRIER_DEPTHIMAGE2_CONVERTER_H