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Applied clang format on new merged file for CI
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@nicktrem
nicktrem committed Dec 5, 2024
1 parent f0170c0 commit d496ecd
Showing 1 changed file with 39 additions and 80 deletions.
119 changes: 39 additions & 80 deletions src/portmonitors/image_rotation/imageRotation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,13 @@

#include "imageRotation.h"

#include <algorithm>
#include <cmath>

#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>

#include <yarp/sig/Image.h>

#include <algorithm>
#include <cmath>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/videoio/videoio.hpp>
Expand All @@ -29,62 +30,42 @@ YARP_LOG_COMPONENT(IMAGEROTATION,

bool ImageRotation::create(const yarp::os::Property& options)
{
//parse the user parameters
// parse the user parameters
yarp::os::Property m_user_params;
yCDebug(IMAGEROTATION) << "user params:" << options.toString();
std::string str = options.find("carrier").asString();
getParamsFromCommandLine(str, m_user_params);
yCDebug(IMAGEROTATION) << "parsed params:" << m_user_params.toString();

//get the value of the parameters
if (m_user_params.check("options_rotate"))
{
// get the value of the parameters
if (m_user_params.check("options_rotate")) {
m_options_rotate_str = m_user_params.find("options_rotate").asString();
}
if (m_user_params.check("options_flip"))
{
if (m_user_params.check("options_flip")) {
m_options_flip_str = m_user_params.find("options_flip").asString();
}

//translate the parameters in opencv
if (m_options_rotate_str == std::string("rotate_cw"))
{
// translate the parameters in opencv
if (m_options_rotate_str == std::string("rotate_cw")) {
m_rot_flags = cv::ROTATE_90_CLOCKWISE;
}
else if (m_options_rotate_str == std::string("rotate_ccw"))
{
} else if (m_options_rotate_str == std::string("rotate_ccw")) {
m_rot_flags = cv::ROTATE_90_COUNTERCLOCKWISE;
}
else if (m_options_rotate_str == std::string("rotate_180"))
{
} else if (m_options_rotate_str == std::string("rotate_180")) {
m_rot_flags = cv::ROTATE_180;
}
else if (m_options_rotate_str == std::string("rotate_none"))
{
}
else
{
} else if (m_options_rotate_str == std::string("rotate_none")) {
} else {
yCDebug(IMAGEROTATION) << "Invalid value of `options_rotate` parameter";
return false;
}

if (m_options_flip_str == std::string("flip_x"))
{
if (m_options_flip_str == std::string("flip_x")) {
m_flip_code = 0;
}
else if (m_options_flip_str == std::string("flip_y"))
{
} else if (m_options_flip_str == std::string("flip_y")) {
m_flip_code = 1;
}
else if (m_options_flip_str == std::string("flip_xy"))
{
} else if (m_options_flip_str == std::string("flip_xy")) {
m_flip_code = -1;
}
else if (m_options_flip_str == std::string("flip_none"))
{
}
else
{
} else if (m_options_flip_str == std::string("flip_none")) {
} else {
yCDebug(IMAGEROTATION) << "Invalid value of `options_flip` parameter";
return false;
}
Expand Down Expand Up @@ -112,12 +93,10 @@ void ImageRotation::getParamsFromCommandLine(std::string carrierString, yarp::os
split(carrierString, '+', parameters);

// Iterate over result strings
for (std::string param : parameters)
{
for (std::string param : parameters) {
// If there is no '.', then the param is bad formatted, skip it.
auto pointPosition = param.find('.');
if (pointPosition == std::string::npos)
{
if (pointPosition == std::string::npos) {
continue;
}

Expand All @@ -127,7 +106,7 @@ void ImageRotation::getParamsFromCommandLine(std::string carrierString, yarp::os
std::string s = param.substr(pointPosition + 1, param.length());
paramValue.fromString(s.c_str());

//and append to the returned property
// and append to the returned property
prop.put(paramKey, paramValue);
}
return;
Expand All @@ -146,14 +125,11 @@ bool ImageRotation::getparam(yarp::os::Property& params)
bool ImageRotation::accept(yarp::os::Things& thing)
{
auto* img = thing.cast_as<yarp::sig::Image>();
if(img == nullptr)
{
if (img == nullptr) {
yCError(IMAGEROTATION, "Expected type Image, but got wrong data type!");
return false;
}
if (img->getPixelCode() != VOCAB_PIXEL_RGB &&
img->getPixelCode() != VOCAB_PIXEL_MONO_FLOAT)
{
if (img->getPixelCode() != VOCAB_PIXEL_RGB && img->getPixelCode() != VOCAB_PIXEL_MONO_FLOAT) {
yCError(IMAGEROTATION, "Received image with invalid/unsupported pixelCode!");
return false;
}
Expand All @@ -162,70 +138,53 @@ bool ImageRotation::accept(yarp::os::Things& thing)

yarp::os::Things& ImageRotation::update(yarp::os::Things& thing)
{
yarp::sig::Image* yarpimg = thing.cast_as<yarp::sig::Image >();
if (yarpimg->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(*yarpimg);

m_outImgRgb.resize(yarpimg->width(), yarpimg->height());
m_outImgRgb.zero();

if (m_options_flip_str == "flip_none" && m_options_rotate_str != "rotation_none")
{
//just rotation
if (m_options_flip_str == "flip_none" && m_options_rotate_str != "rotation_none") {
// just rotation
cv::rotate(m_cvInImage, m_cvOutImage1, m_rot_flags);
m_outImgRgb = yarp::cv::fromCvMat<yarp::sig::PixelRgb>(m_cvOutImage1);
}
else if (m_options_flip_str != "flip_none" && m_options_rotate_str == "rotation_none")
{
//just flip
} else if (m_options_flip_str != "flip_none" && m_options_rotate_str == "rotation_none") {
// just flip
cv::flip(m_cvInImage, m_cvOutImage1, m_flip_code);
m_outImgRgb = yarp::cv::fromCvMat<yarp::sig::PixelRgb>(m_cvOutImage1);
}
else if (m_options_flip_str == "flip_none" && m_options_rotate_str == "rotation_none")
{
//just copy
} else if (m_options_flip_str == "flip_none" && m_options_rotate_str == "rotation_none") {
// just copy
m_outImgRgb = yarp::cv::fromCvMat<yarp::sig::PixelRgb>(m_cvInImage);
}
else
{
//first a rotation, then a flip
} else {
// first a rotation, then a flip
cv::rotate(m_cvInImage, m_cvOutImage1, m_rot_flags);
cv::flip(m_cvOutImage1, m_cvOutImage2, m_flip_code);
m_outImgRgb = yarp::cv::fromCvMat<yarp::sig::PixelRgb>(m_cvOutImage2);
}
m_th.setPortWriter(&m_outImgRgb);
}
else if (yarpimg->getPixelCode() == VOCAB_PIXEL_MONO_FLOAT)
{
} else if (yarpimg->getPixelCode() == VOCAB_PIXEL_MONO_FLOAT) {
m_cvInImage = yarp::cv::toCvMat(*yarpimg);

m_outImgFloat.resize(yarpimg->width(), yarpimg->height());
m_outImgFloat.zero();

if (m_options_flip_str == "flip_none")
{
if (m_options_flip_str == "flip_none") {
// just rotation
cv::rotate(m_cvInImage, m_cvOutImage1, m_rot_flags);
m_outImgFloat = yarp::cv::fromCvMat<yarp::sig::PixelFloat>(m_cvOutImage1);
}
else if (m_options_flip_str == "rotation_none")
{
} else if (m_options_flip_str == "rotation_none") {
// just flip
cv::flip(m_cvInImage, m_cvOutImage1, m_flip_code);
m_outImgFloat = yarp::cv::fromCvMat<yarp::sig::PixelFloat>(m_cvOutImage1);
}
else
{
} else {
// first a rotation, then a flip
cv::rotate(m_cvInImage, m_cvOutImage1, m_rot_flags);
cv::flip(m_cvOutImage1, m_cvOutImage2, m_flip_code);
m_outImgFloat = yarp::cv::fromCvMat<yarp::sig::PixelFloat>(m_cvOutImage2);
}
m_th.setPortWriter(&m_outImgFloat);
}
else
{
} else {
yCError(IMAGEROTATION, "Invalid Image type!");
}
return m_th;
Expand Down

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