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improved image_rotation portmonitor to perform flip along x and y axes
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@randaz81
randaz81 committed Dec 3, 2024
1 parent dc87e75 commit ba79e30
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Showing 2 changed files with 86 additions and 19 deletions.
99 changes: 81 additions & 18 deletions src/portmonitors/image_rotation/imageRotation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,10 +36,17 @@ bool ImageRotation::create(const yarp::os::Property& options)
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"))
{
m_options_rotate_str = m_user_params.find("options_rotate").asString();
}
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"))
{
m_rot_flags = cv::ROTATE_90_CLOCKWISE;
Expand All @@ -48,11 +55,40 @@ bool ImageRotation::create(const yarp::os::Property& options)
{
m_rot_flags = cv::ROTATE_90_COUNTERCLOCKWISE;
}
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
{
yCDebug(IMAGEROTATION) << "Invalid value of `options` parameter";
{
yCDebug(IMAGEROTATION) << "Invalid value of `options_rotate` parameter";
return false;
}

if (m_options_flip_str == std::string("flip_x"))
{
m_flip_code = 0;
}
else if (m_options_flip_str == std::string("flip_y"))
{
m_flip_code = 1;
}
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
{
yCDebug(IMAGEROTATION) << "Invalid value of `options_flip` parameter";
return false;
}

return true;
}

Expand Down Expand Up @@ -134,14 +170,30 @@ yarp::os::Things& ImageRotation::update(yarp::os::Things& thing)
m_outImgRgb.resize(yarpimg->width(), yarpimg->height());
m_outImgRgb.zero();

//double angle = 90;
//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());

cv::rotate(m_cvInImage, m_cvOutImage, m_rot_flags);

m_outImgRgb = yarp::cv::fromCvMat<yarp::sig::PixelRgb>(m_cvOutImage);
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
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
m_outImgRgb = yarp::cv::fromCvMat<yarp::sig::PixelRgb>(m_cvInImage);
}
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)
Expand All @@ -151,14 +203,25 @@ yarp::os::Things& ImageRotation::update(yarp::os::Things& thing)
m_outImgFloat.resize(yarpimg->width(), yarpimg->height());
m_outImgFloat.zero();

//double angle = 90;
//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());

cv::rotate(m_cvInImage, m_cvOutImage, m_rot_flags);

m_outImgFloat = yarp::cv::fromCvMat<yarp::sig::PixelFloat>(m_cvOutImage);
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")
{
// just flip
cv::flip(m_cvInImage, m_cvOutImage1, m_flip_code);
m_outImgFloat = yarp::cv::fromCvMat<yarp::sig::PixelFloat>(m_cvOutImage1);
}
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
Expand Down
6 changes: 5 additions & 1 deletion src/portmonitors/image_rotation/imageRotation.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -41,9 +41,13 @@ class ImageRotation : public yarp::os::MonitorObject
yarp::sig::ImageOf<yarp::sig::PixelRgb> m_outImgRgb;

std::string m_options_rotate_str = "rotate_cw";
std::string m_options_flip_str = "flip_none";
cv::RotateFlags m_rot_flags;
int m_flip_code;

cv::Mat m_cvInImage;
cv::Mat m_cvOutImage;
cv::Mat m_cvOutImage1;
cv::Mat m_cvOutImage2;
};

#endif // YARP_PORTMONITOR_IMAGEROTATION_H

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