TransformYarpPort.h

/*
 * Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef ROBOTSIO_TRANSFORMYARPPORT_H
#define ROBOTSIO_TRANSFORMYARPPORT_H
 
#include <RobotsIO/Utils/Transform.h>
#include <RobotsIO/Utils/YarpBufferedPort.hpp>
#include <RobotsIO/Utils/YarpImageOfMonoFloat.h>
 
#include <yarp/sig/Image.h>
#include <yarp/sig/Vector.h>
 
#include <Eigen/Dense>
 
namespace RobotsIO {
    namespace Utils {
        class TransformYarpPort;
    }
}
 
class RobotsIO::Utils::TransformYarpPort : public RobotsIO::Utils::Transform,
                                           public RobotsIO::Utils::YarpBufferedPort<yarp::sig::Vector>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    TransformYarpPort(const std::string& port_prefix, const bool& provide_rgb, const bool& provide_depth_segmentation);
 
    virtual ~TransformYarpPort();
 
    Eigen::Transform<double, 3, Eigen::Affine> transform() override;
 
    Eigen::MatrixXd bounding_box() override;
 
    bool freeze(const bool blocking = false) override;
 
    int get_frames_between_iterations() const override;
 
    void set_rgb_image(const cv::Mat& image) override;
 
    void set_depth_segmentation_image(const Eigen::MatrixXf& depth, const cv::Mat& segmentation) override;
 
    bool transform_received() override;
 
private:
    Eigen::Transform<double, 3, Eigen::Affine> transform_;
 
    Eigen::MatrixXd bbox_points_;
 
    RobotsIO::Utils::YarpBufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb>> rgb_out_;
 
    RobotsIO::Utils::YarpBufferedPort<RobotsIO::Utils::YarpImageOfMonoFloat> depth_segmentation_out_;
 
    const bool provide_rgb_;
 
    const bool provide_depth_segmentation_;
 
    cv::Mat cv_rgb_out_;
    yarp::sig::ImageOf<yarp::sig::PixelRgb> yarp_rgb_out_;
 
    cv::Mat cv_depth_out_;
    cv::Mat cv_segmentation_out_;
    RobotsIO::Utils::YarpImageOfMonoFloat yarp_depth_segmentation_out_;
 
    bool transform_received_ = false;
 
    const std::string log_name_ = "RobotsIO::Utils::TransformYarpPort";
};
 
#endif /* ROBOTSIO_TRANSFORMYARPPORT_H */