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Merge pull request #3133 from randaz81/IplImageRemoved
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Removed references to deprecated IplImage
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@randaz81
randaz81 authored Oct 16, 2024
2 parents cb06cd7 + 2ee7d1a commit d4e6a62
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Showing 6 changed files with 70 additions and 1,712 deletions.
1 change: 0 additions & 1 deletion bindings/yarp.i
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Original file line number Diff line number Diff line change
Expand Up @@ -208,7 +208,6 @@
%ignore yarp::sig::Image::operator()(int,int) const;
%ignore yarp::sig::Image::pixel(int,int) const;
%ignore yarp::sig::Image::getRow(int) const;
%ignore yarp::sig::Image::getIplImage() const;
%ignore yarp::sig::Image::getReadType() const;
%ignore yarp::sig::VectorOf<double>::getType() const;
%ignore yarp::sig::VectorOf<double>::VectorOf(std::initializer_list<double>);
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1 change: 0 additions & 1 deletion src/libYARP_sig/src/yarp/sig/Image.copyPixels.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,6 @@
#include <yarp/os/Log.h>
#include <yarp/os/Vocab.h>
#include <yarp/sig/Image.h>
#include <yarp/sig/impl/IplImage.h>

#include <cstring>
#include <cstdio>
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176 changes: 36 additions & 140 deletions src/libYARP_sig/src/yarp/sig/Image.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,6 @@

#include <yarp/sig/ImageNetworkHeader.h>
#include <yarp/sig/impl/IplImage.h>
#include <yarp/sig/impl/DeBayer.h>

#include <cstdio>
#include <cstring>
Expand All @@ -33,12 +32,6 @@ using namespace yarp::os;

#define DBGPF1 if (0)

//inline int PAD_BYTES (int len, int pad)
//{
// const int rem = len % pad;
// return (rem != 0) ? (pad - rem) : rem;
//}

/**
* This helper function groups code to avoid duplication. It is not a member function of Image because
* there are problems with ImageNetworkHeader, anyhow the function is state-less and uses only parameters.
Expand Down Expand Up @@ -71,7 +64,7 @@ inline bool readFromConnection(Image &dest, ImageNetworkHeader &header, Connecti

class ImageStorage {
public:
IplImage* pImage;
MiniIplImage* pImage;
char **Data; // this is not IPL. it's char to maintain IPL compatibility
int extern_type_id;
size_t extern_type_quantum;
Expand All @@ -94,12 +87,9 @@ class ImageStorage {
void _alloc_extern (const void *buf);
void _alloc_data ();
void _free ();
void _free_data ();

void _make_independent();
bool _set_ipl_header(size_t x, size_t y, int pixel_type, size_t quantum,
bool topIsLow);
void _free_ipl_header();
void _alloc_complete(size_t x, size_t y, int pixel_type, size_t quantum,
bool topIsLow);
void _free_complete();
Expand Down Expand Up @@ -129,11 +119,8 @@ class ImageStorage {
_free_complete();
}

void resize(size_t x, size_t y, int pixel_type,
size_t quantum, bool topIsLow);

void _alloc_complete_extern(const void *buf, size_t x, size_t y, int pixel_type,
size_t quantum, bool topIsLow);
void resize(size_t x, size_t y, int pixel_type, size_t quantum, bool topIsLow);
void _alloc_complete_extern(const void *buf, size_t x, size_t y, int pixel_type, size_t quantum, bool topIsLow);
};


Expand All @@ -155,20 +142,11 @@ void ImageStorage::resize(size_t x, size_t y, int pixel_type,
}

// allocates an empty image.
void ImageStorage::_alloc () {


void ImageStorage::_alloc ()
{
_free(); // was iplDeallocateImage(pImage); but that won't work with refs

if ((type_id == VOCAB_PIXEL_MONO_FLOAT) ||
(type_id == VOCAB_PIXEL_RGB_FLOAT) ||
(type_id == VOCAB_PIXEL_HSV_FLOAT)) {
iplAllocateImageFP(pImage, 0, 0);
} else {
iplAllocateImage (pImage, 0, 0);
}

iplSetBorderMode (pImage, IPL_BORDER_CONSTANT, IPL_SIDE_ALL, 0);
iplAllocateImage (pImage);
}

// installs an external buffer as the image data
Expand All @@ -183,11 +161,7 @@ void ImageStorage::_alloc_extern (const void *buf)
}
}

//iplAllocateImage (pImage, 0, 0);
pImage->imageData = const_cast<char*>(reinterpret_cast<const char*>(buf));
// probably need to do more for real IPL

//iplSetBorderMode (pImage, IPL_BORDER_CONSTANT, IPL_SIDE_ALL, 0);
}

// allocates the Data pointer.
Expand Down Expand Up @@ -240,85 +214,61 @@ void ImageStorage::_free ()
}
}

void ImageStorage::_free_data ()
{
yAssert(Data==nullptr); // Now always free Data at same time
}


void ImageStorage::_free_complete()
{
_free();
_free_data();
_free_ipl_header();
}


void ImageStorage::_free_ipl_header()
{
if (pImage!=nullptr)
if (pImage != nullptr)
{
iplDeallocate (pImage, IPL_IMAGE_HEADER);
iplDeallocateHeader(pImage);
}
pImage = nullptr;
}


void ImageStorage::_alloc_complete(size_t x, size_t y, int pixel_type, size_t quantum,
bool topIsLow)
{
_make_independent();
_free_complete();
_set_ipl_header(x, y, pixel_type, quantum, topIsLow);
_alloc ();
_alloc_data ();
}



void ImageStorage::_make_independent()
{
// actually I think this isn't really needed -paulfitz
}

struct pixelTypeIplParams
{
int nChannels;
int depth;
const char* colorModel;
const char* channelSeq;
};

const pixelTypeIplParams iplPixelTypeMono{1, IPL_DEPTH_8U, "GRAY", "GRAY"};
const pixelTypeIplParams iplPixelTypeMono16{1, IPL_DEPTH_16U, "GRAY", "GRAY"};

const std::map<int, pixelTypeIplParams> pixelCode2iplParams = {
{VOCAB_PIXEL_MONO, iplPixelTypeMono},
{VOCAB_PIXEL_ENCODING_BAYER_GRBG8, iplPixelTypeMono},
{VOCAB_PIXEL_ENCODING_BAYER_BGGR8, iplPixelTypeMono},
{VOCAB_PIXEL_ENCODING_BAYER_GBRG8, iplPixelTypeMono},
{VOCAB_PIXEL_ENCODING_BAYER_RGGB8, iplPixelTypeMono},
{VOCAB_PIXEL_YUV_420, iplPixelTypeMono}, // {1, 12, "GRAY", "GRAY"}},
{VOCAB_PIXEL_YUV_444, iplPixelTypeMono}, // {1, 24, "GRAY", "GRAY"}},
{VOCAB_PIXEL_YUV_422, iplPixelTypeMono16},
{VOCAB_PIXEL_YUV_411, iplPixelTypeMono}, // {1, 12, "GRAY", "GRAY"}},
{VOCAB_PIXEL_MONO16, iplPixelTypeMono16},
{VOCAB_PIXEL_ENCODING_BAYER_GRBG16, iplPixelTypeMono16},
{VOCAB_PIXEL_ENCODING_BAYER_BGGR16, iplPixelTypeMono16},
{VOCAB_PIXEL_ENCODING_BAYER_GBRG16, iplPixelTypeMono16},
{VOCAB_PIXEL_ENCODING_BAYER_RGGB16, iplPixelTypeMono16},
{VOCAB_PIXEL_RGB, {3, IPL_DEPTH_8U, "RGB", "RGB" }},
{VOCAB_PIXEL_RGBA, {4, IPL_DEPTH_8U, "RGBA", "RGBA"}},
{VOCAB_PIXEL_BGRA, {4, IPL_DEPTH_8U, "BGRA", "BGRA"}},
{VOCAB_PIXEL_INT, {1, IPL_DEPTH_32S, "GRAY", "GRAY"}},
{VOCAB_PIXEL_HSV, {3, IPL_DEPTH_8U, "HSV", "HSV" }},
{VOCAB_PIXEL_BGR, {3, IPL_DEPTH_8U, "RGB", "BGR" }},
{VOCAB_PIXEL_MONO_SIGNED, {1, IPL_DEPTH_8S, "GRAY", "GRAY"}},
{VOCAB_PIXEL_RGB_INT, {3, IPL_DEPTH_32S, "RGB", "RGB" }},
{VOCAB_PIXEL_MONO_FLOAT, {1, IPL_DEPTH_32F, "GRAY", "GRAY"}},
{VOCAB_PIXEL_RGB_FLOAT, {3, IPL_DEPTH_32F, "RGB", "RGB" }},
{-2, iplPixelTypeMono16},
{-4, {1, IPL_DEPTH_32S, "GRAY", "GRAY"}}
{VOCAB_PIXEL_MONO, {1, IPL_DEPTH_8U}},
{VOCAB_PIXEL_ENCODING_BAYER_GRBG8, {1, IPL_DEPTH_8U}},
{VOCAB_PIXEL_ENCODING_BAYER_BGGR8, {1, IPL_DEPTH_8U}},
{VOCAB_PIXEL_ENCODING_BAYER_GBRG8, {1, IPL_DEPTH_8U}},
{VOCAB_PIXEL_ENCODING_BAYER_RGGB8, {1, IPL_DEPTH_8U}},
{VOCAB_PIXEL_YUV_420, {1, IPL_DEPTH_8U}},
{VOCAB_PIXEL_YUV_444, {1, IPL_DEPTH_8U}},
{VOCAB_PIXEL_YUV_422, {1, IPL_DEPTH_16U}},
{VOCAB_PIXEL_YUV_411, {1, IPL_DEPTH_8U}},
{VOCAB_PIXEL_MONO16, {1, IPL_DEPTH_16U}},
{VOCAB_PIXEL_ENCODING_BAYER_GRBG16, {1, IPL_DEPTH_16U}},
{VOCAB_PIXEL_ENCODING_BAYER_BGGR16, {1, IPL_DEPTH_16U}},
{VOCAB_PIXEL_ENCODING_BAYER_GBRG16, {1, IPL_DEPTH_16U}},
{VOCAB_PIXEL_ENCODING_BAYER_RGGB16, {1, IPL_DEPTH_16U}},
{VOCAB_PIXEL_RGB, {3, IPL_DEPTH_8U,}},
{VOCAB_PIXEL_RGBA, {4, IPL_DEPTH_8U,}},
{VOCAB_PIXEL_BGRA, {4, IPL_DEPTH_8U,}},
{VOCAB_PIXEL_INT, {1, IPL_DEPTH_32S}},
{VOCAB_PIXEL_HSV, {3, IPL_DEPTH_8U,}},
{VOCAB_PIXEL_BGR, {3, IPL_DEPTH_8U,}},
{VOCAB_PIXEL_MONO_SIGNED, {1, IPL_DEPTH_8S,}},
{VOCAB_PIXEL_RGB_INT, {3, IPL_DEPTH_32S}},
{VOCAB_PIXEL_MONO_FLOAT, {1, IPL_DEPTH_32F}},
{VOCAB_PIXEL_RGB_FLOAT, {3, IPL_DEPTH_32F}},
{-2, {1, IPL_DEPTH_16U}},
{-4, {1, IPL_DEPTH_32S}}
};

bool ImageStorage::_set_ipl_header(size_t x, size_t y, int pixel_type, size_t quantum,
Expand Down Expand Up @@ -346,7 +296,7 @@ bool ImageStorage::_set_ipl_header(size_t x, size_t y, int pixel_type, size_t qu
}
int origin = topIsLow ? IPL_ORIGIN_TL : IPL_ORIGIN_BL;

pImage = iplCreateImageHeader(param.nChannels, 0, param.depth, const_cast<char*>(param.colorModel), const_cast<char*>(param.channelSeq), IPL_DATA_ORDER_PIXEL, origin, quantum, x, y, nullptr, nullptr, nullptr, nullptr);
pImage = iplCreateImageHeader(param.nChannels, param.depth, origin, quantum, x, y);

type_id = pixel_type;
this->quantum = quantum;
Expand All @@ -362,7 +312,6 @@ void ImageStorage::_alloc_complete_extern(const void *buf, size_t x, size_t y, i
this->quantum = quantum;
this->topIsLow = topIsLow;

_make_independent();
_free_complete();
_set_ipl_header(x, y, pixel_type, quantum, topIsLow);
Data = nullptr;
Expand Down Expand Up @@ -599,60 +548,7 @@ bool Image::read(yarp::os::ConnectionReader& connection) {
return readFromConnection(*this, header, connection);
}

// image is bayer 8 bits, current image is MONO, copy as is (keep raw format)
if (getPixelCode() == VOCAB_PIXEL_MONO && isBayer8(header.id))
{
return readFromConnection(*this, header, connection);
}
// image is bayer 16 bits, current image is MONO16, copy as is (keep raw format)
if (getPixelCode() == VOCAB_PIXEL_MONO16 && isBayer16(header.id))
{
return readFromConnection(*this, header, connection);
}

////////////////////
// Received and current images are binary incompatible do our best to convert
//

// handle here all bayer encoding 8 bits
if (isBayer8(header.id))
{
FlexImage flex;
flex.setPixelCode(VOCAB_PIXEL_MONO);
flex.setQuantum(header.quantum);
flex.setTopIsLowIndex(header.topIsLow == 0);

bool ok = readFromConnection(flex, header, connection);
if (!ok) {
return false;
}

if (getPixelCode() == VOCAB_PIXEL_BGR && header.id==VOCAB_PIXEL_ENCODING_BAYER_GRBG8) {
return deBayer_GRBG8_TO_BGR(flex, *this, 3);
}
if (getPixelCode() == VOCAB_PIXEL_BGRA && header.id == VOCAB_PIXEL_ENCODING_BAYER_GRBG8) {
return deBayer_GRBG8_TO_BGR(flex, *this, 4);
}
if (getPixelCode() == VOCAB_PIXEL_RGB && header.id==VOCAB_PIXEL_ENCODING_BAYER_GRBG8) {
return deBayer_GRBG8_TO_RGB(flex, *this, 3);
}
if (getPixelCode() == VOCAB_PIXEL_RGBA && header.id == VOCAB_PIXEL_ENCODING_BAYER_GRBG8) {
return deBayer_GRBG8_TO_RGB(flex, *this, 4);
}

YARP_FIXME_NOTIMPLEMENTED("Conversion from bayer encoding not yet implemented\n");
return false;
}

// handle here all bayer encodings 16 bits
if (isBayer16(header.id))
{
// as bayer16 seems unlikely we defer implementation for later
YARP_FIXME_NOTIMPLEMENTED("Conversion from bayer encoding 16 bits not yet implemented\n");
return false;
}

// Received image has valid YARP pixels and can be converted using Image primitives
// received and current images are binary incompatible, so
// prepare a FlexImage, set it to be compatible with the received image
// read new image into FlexImage then copy from it.
FlexImage flex;
Expand Down
11 changes: 0 additions & 11 deletions src/libYARP_sig/src/yarp/sig/IplImage.h
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