IFrameGrabberImage.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IFRAMEGRABBERIMAGE_H
#define YARP_DEV_IFRAMEGRABBERIMAGE_H
 
#include <yarp/os/ConnectionWriter.h>
#include <yarp/os/ConnectionReader.h>
#include <yarp/os/Portable.h>
 
#include <yarp/sig/Image.h>
#include <yarp/sig/Vector.h>
 
#include <yarp/dev/api.h>
#include <yarp/dev/ReturnValue.h>
 
namespace yarp::dev
{
    typedef enum
    {
        YARP_CROP_RECT = 0, // Rectangular region of interest style, requires the two corner as a parameter
        YARP_CROP_LIST      // Unordered list of points, the returned image will be a nx1 image with n the
                            // number of points required by user (size of input vector), with the corresponding
                            // pixel color.
    } cropType_id_t;
 
    class YARP_dev_API vertex_t : public yarp::os::Portable
    {
        public:
        virtual ~vertex_t();
        vertex_t() = default;
        vertex_t(int x, int y);
 
        int x=0;
        int y=0;
 
        bool read(yarp::os::ConnectionReader& connection) override;
        bool write(yarp::os::ConnectionWriter& connection) const override;
 
    };
} // namespace yarp::dev
 
namespace yarp::dev {
 
class YARP_dev_API IFrameGrabberImageBase
{
public:
    virtual ~IFrameGrabberImageBase();
 
    virtual int height() const = 0;
 
    virtual int width() const = 0;
};
 
template <typename ImageType>
class IFrameGrabberOf :
        public IFrameGrabberImageBase
{
public:
    virtual yarp::dev::ReturnValue getImage(ImageType& image) = 0;
 
    virtual yarp::dev::ReturnValue getImageCrop(yarp::dev::cropType_id_t cropType,
                              std::vector<vertex_t> vertices,
                              ImageType& image);
};
 
using IFrameGrabberImage = IFrameGrabberOf<yarp::sig::ImageOf<yarp::sig::PixelRgb>>;
using IFrameGrabberImageRaw = IFrameGrabberOf<yarp::sig::ImageOf<yarp::sig::PixelMono>>;
 
YARP_dev_EXTERN template class YARP_dev_API IFrameGrabberOf<yarp::sig::ImageOf<yarp::sig::PixelRgb>>;
YARP_dev_EXTERN template class YARP_dev_API IFrameGrabberOf<yarp::sig::ImageOf<yarp::sig::PixelMono>>;
YARP_dev_EXTERN template class YARP_dev_API IFrameGrabberOf<yarp::sig::ImageOf<yarp::sig::PixelFloat>>;
YARP_dev_EXTERN template class YARP_dev_API IFrameGrabberOf<yarp::sig::FlexImage>;
 
} // namespace yarp::dev
 
#endif // YARP_DEV_IFRAMEGRABBERIMAGE_H