DepthImage.cpp

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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.
 */
 
#include "DepthImage.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",
                   yarp::os::Log::minimumPrintLevel(),
                   yarp::os::Log::LogTypeReserved,
                   yarp::os::Log::printCallback(),
                   nullptr)
}
 
bool DepthImageConverter::create(const yarp::os::Property& options)
{
    min = 0.2;
    max = 10.0;
    inMatrix = nullptr;
    outMatrix = nullptr;
    outImg.setPixelCode(VOCAB_PIXEL_MONO);
    return true;
}
 
void DepthImageConverter::destroy()
{
}
 
bool DepthImageConverter::setparam(const yarp::os::Property& params)
{
    return false;
}
 
bool DepthImageConverter::getparam(yarp::os::Property& params)
{
    return false;
}
 
bool DepthImageConverter::accept(yarp::os::Things& thing)
{
    auto* img = thing.cast_as<Image>();
    if(img == nullptr) {
        yCError(DEPTHIMAGE, "DepthImageConverter: expected type FlexImage but got wrong data type!");
        return false;
    }
 
    if( img->getPixelCode() == VOCAB_PIXEL_MONO_FLOAT)
    {
        return true;
    }
 
    yCError(DEPTHIMAGE,
            "DepthImageConverter: expected %s, got %s, not doing any conversion!",
            yarp::os::Vocab::decode(VOCAB_PIXEL_MONO_FLOAT).c_str(),
            yarp::os::Vocab::decode(img->getPixelCode()).c_str() );
    return false;
}
 
yarp::os::Things& DepthImageConverter::update(yarp::os::Things& thing)
{
    auto* img = thing.cast_as<Image>();
    inMatrix = reinterpret_cast<float **> (img->getRawImage());
 
    outImg.setPixelCode(VOCAB_PIXEL_MONO);
    outImg.setPixelSize(1);
    outImg.resize(img->width(), img->height());
 
    outImg.zero();
    auto* inPixels = reinterpret_cast<float *> (img->getRawImage());
    unsigned char *pixels = outImg.getRawImage();
    for(size_t h=0; h<img->height(); h++)
    {
        for(size_t w=0; w<img->width(); w++)
        {
            float inVal = inPixels[w + (h * img->width())];
            if (inVal != inVal /* NaN */ || inVal < min || inVal > max) {
                pixels[w + (h * (img->width() ))] = 0;
            } else {
                int val = (int) (255.0 - (inVal * 255.0 / (max - min)));
                if(val >= 255)
                    val = 255;
                if(val <= 0)
                    val = 0;
                pixels[w + (h * (img->width() ))] = (char) val;
            }
        }
    }
    th.setPortWriter(&outImg);
    return th;
}