Merge pull request #2941 from robotology/imageRotation_fix

fixed image type in imageRotation portmonitor
robotology · Feb 7, 2023 · 84a46c9 · 84a46c9
2 parents 656cf7f + 9ce49e9
commit 84a46c9
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Showing 3 changed files with 14 additions and 14 deletions.
diff --git a/src/libYARP_cv/src/yarp/cv/Cv-inl.h b/src/libYARP_cv/src/yarp/cv/Cv-inl.h
@@ -81,7 +81,7 @@ ::cv::Mat yarp::cv::toCvMat(yarp::sig::ImageOf<T>& yarpImage)
     return outMat;
 }
 
-inline ::cv::Mat yarp::cv::toCvMat(yarp::sig::FlexImage& yarpImage)
+inline ::cv::Mat yarp::cv::toCvMat(yarp::sig::Image& yarpImage)
 {
     int val=-1;
     int type=0;

diff --git a/src/libYARP_cv/src/yarp/cv/Cv.h b/src/libYARP_cv/src/yarp/cv/Cv.h
@@ -22,7 +22,7 @@ namespace yarp::cv {
  * are currently supported.
  * @return the resulting cv::Mat.
  */
-::cv::Mat toCvMat(yarp::sig::FlexImage& yarpImage);
+::cv::Mat toCvMat(yarp::sig::Image& yarpImage);
 
 /**
  * Convert a yarp::sig::ImageOf to a cv::Mat object

diff --git a/src/portmonitors/image_rotation/imageRotation.cpp b/src/portmonitors/image_rotation/imageRotation.cpp
@@ -109,33 +109,33 @@ bool ImageRotation::getparam(yarp::os::Property& params)
 
 bool ImageRotation::accept(yarp::os::Things& thing)
 {
-    auto* img = thing.cast_as<yarp::sig::FlexImage>();
+    auto* img = thing.cast_as<yarp::sig::Image>();
     if(img == nullptr)
     {
-        yCError(IMAGEROTATION, "Expected type FlexImage but got wrong data type!");
+        yCError(IMAGEROTATION, "Expected type Image, but got wrong data type!");
         return false;
     }
     if (img->getPixelCode() != VOCAB_PIXEL_RGB &&
         img->getPixelCode() != VOCAB_PIXEL_MONO_FLOAT)
     {
-        yCError(IMAGEROTATION, "Expected type FlexImage but got wrong data type!");
+        yCError(IMAGEROTATION, "Received image with invalid/unsupported pixelCode!");
         return false;
     }
     return true;
 }
 
 yarp::os::Things& ImageRotation::update(yarp::os::Things& thing)
 {
-    yarp::sig::FlexImage* flximg = thing.cast_as<yarp::sig::FlexImage >();
-    if (flximg->getPixelCode() == VOCAB_PIXEL_RGB)
+    yarp::sig::Image* yarpimg = thing.cast_as<yarp::sig::Image >();
+    if (yarpimg->getPixelCode() == VOCAB_PIXEL_RGB)
     {
-        m_cvInImage = yarp::cv::toCvMat(*flximg);
+        m_cvInImage = yarp::cv::toCvMat(*yarpimg);
 
-        m_outImgRgb.resize(flximg->width(), flximg->height());
+        m_outImgRgb.resize(yarpimg->width(), yarpimg->height());
         m_outImgRgb.zero();
 
         //double angle = 90;
-        //cv::Point2f center((flximg->width() - 1) / 2.0, (flximg->height() - 1) / 2.0);
+        //cv::Point2f center((yarpimg->width() - 1) / 2.0, (yarpimg->height() - 1) / 2.0);
         //cv::Mat rotation_matix = getRotationMatrix2D(center, angle, 1.0);
         //cv::warpAffine(cvInImage, cvOutImage, rotation_matix, cvInImage.size());
 
@@ -144,15 +144,15 @@ yarp::os::Things& ImageRotation::update(yarp::os::Things& thing)
         m_outImgRgb = yarp::cv::fromCvMat<yarp::sig::PixelRgb>(m_cvOutImage);
         m_th.setPortWriter(&m_outImgRgb);
     }
-    else if (flximg->getPixelCode() == VOCAB_PIXEL_MONO_FLOAT)
+    else if (yarpimg->getPixelCode() == VOCAB_PIXEL_MONO_FLOAT)
     {
-        m_cvInImage = yarp::cv::toCvMat(*flximg);
+        m_cvInImage = yarp::cv::toCvMat(*yarpimg);
 
-        m_outImgFloat.resize(flximg->width(), flximg->height());
+        m_outImgFloat.resize(yarpimg->width(), yarpimg->height());
         m_outImgFloat.zero();
 
         //double angle = 90;
-        //cv::Point2f center((flximg->width() - 1) / 2.0, (flximg->height() - 1) / 2.0);
+        //cv::Point2f center((yarpimg->width() - 1) / 2.0, (yarpimg->height() - 1) / 2.0);
         //cv::Mat rotation_matix = getRotationMatrix2D(center, angle, 1.0);
         //cv::warpAffine(cvInImage, cvOutImage, rotation_matix, cvInImage.size());