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Leave to YARP the pixel code (channel order) conversion aligned with OpenCV (BGRx)#44

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refact/i43-use-yarp-toCvMat-pixel-code-conversion
Apr 17, 2022
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Leave to YARP the pixel code (channel order) conversion aligned with OpenCV (BGRx)#44
nunoguedelha merged 3 commits into
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refact/i43-use-yarp-toCvMat-pixel-code-conversion

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@nunoguedelha nunoguedelha commented Apr 15, 2022

Implements #43 .

@nunoguedelha nunoguedelha self-assigned this Apr 15, 2022
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nunoguedelha commented Apr 15, 2022

This is a first attempt to use yarp::sig::toCvMat function for converting the pixel code for aligning it with the default channel order used by OpenCV.

There is a problem with the definition of the map yarpCode2toCvMat: for adding another line with a different pixel code (e.g. yarp::sig::PixelMono), I would need to have a generic type x in the declaration of the map, which accepts both yarp::sig::PixelMono and yarp::sig::PixelRgb (like a "union"). Same applies to all the other lines in yarpCode2toCvMat still commented. Using a parent class of ImageOf, i.e. Image doesn't seem to work.

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Use yarp::sig::Image::copy instead of cv::toCvMat which simplifie…
d8bd494 
…s the implementation

- This allows to avoid having to select a specialisation of `yarp::cv::toCvMat` depending on the pixel code, and instead, always use the specialization `yarp::cv::toCvMat<yarp::sig::PixelBgr>` respective to the destination image.
- The drawback is that we loose the alpha channel, as per the actual implementation of `yarp::sig::Image::copy`.
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Use PixelBgra code instead of PixelBgr accounting for eventual alpha …
cb1c162 
…channel
@nunoguedelha nunoguedelha marked this pull request as ready for review April 15, 2022 21:30
@nunoguedelha nunoguedelha requested a review from traversaro April 15, 2022 21:31
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nunoguedelha commented Apr 15, 2022

CC @S-Dafarra @RiccardoGrieco

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nunoguedelha commented Apr 16, 2022

There is a problem with the definition of the map yarpCode2toCvMat: for adding another line with a different pixel code (e.g. yarp::sig::PixelMono), I would need to have a generic type x in the declaration of the map, which accepts both yarp::sig::PixelMono and yarp::sig::PixelRgb (like a "union"). Same applies to all the other lines in yarpCode2toCvMat still commented. Using a parent class of ImageOf, i.e. Image doesn't seem to work.

This problem was avoided. Refer to #43 .

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traversaro approved these changes Apr 16, 2022
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Cool!

@nunoguedelha nunoguedelha merged commit 08c9c2c into master Apr 17, 2022
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nunoguedelha commented Apr 17, 2022

Side note:
I selected "Squash and merge" but it kept the old commits and created a new merge commit, just as if I had chosen "Create new merge commit".
CC @traversaro

@nunoguedelha nunoguedelha deleted the refact/i43-use-yarp-toCvMat-pixel-code-conversion branch April 17, 2022 20:33
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