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added Changelog
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added LayeredImageTest
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@randaz81
randaz81 committed Dec 5, 2024
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40 changes: 36 additions & 4 deletions doc/release/master.md
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master {#master}
-----------
YARP <yarp-3.11> (UNRELEASED) {#yarp_3_11}
============================

* Branch changes
The angular acceleration and linear velocity values measured by a particular sensor can now be extracted and used via the sensor remapper.
[TOC]

YARP <yarp-3.11> Release Notes
=============================


A (partial) list of bug fixed and issues resolved in this release can be found
[here](https://github.com/robotology/yarp/issues?q=label%3A%22Fixed+in%3A+YARP+yarp-3.10%22).

Fixes
-----

New Features
------------

### devices

#### multiplenalogsensorremapper

* The angular acceleration and linear velocity values measured by a sensor can now be extracted and used via the sensor remapper.
* Also involves `multipleanalogsensorclient` and `multipleanalogsensorserver` as a breaking change.

### GUIs

#### `yarpopencvdisplay`

* `yarpopencvdisplay` is now able to display a `yarp::sig::LayeredImage`

### Libraries

#### `libYARP_sig`

* added new datatype `yarp::sig::LayeredImage`
* added `yarp::sig::utils::sum()` to transform `yarp::sig::LayeredImage` to `yarp::sig::Image`
3 changes: 1 addition & 2 deletions src/libYARP_sig/src/yarp/sig/LayeredImage.cpp
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#include <cstring>
#include <string>
#include <utility>

#include <opencv2/opencv.hpp>
#include <math.h>

using namespace yarp::sig;
using namespace yarp::os;
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2 changes: 1 addition & 1 deletion src/libYARP_sig/src/yarp/sig/LayeredImage.h
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#include <yarp/os/Portable.h>
#include <yarp/sig/Image.h>
#include <Vector>
#include <vector>

namespace yarp::sig {
class LayeredImage;
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298 changes: 298 additions & 0 deletions src/libYARP_sig/tests/LayeredImageTest.cpp
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/*
* SPDX-FileCopyrightText: 2024-2024 Istituto Italiano di Tecnologia (IIT)
* SPDX-License-Identifier: BSD-3-Clause
*/

#include <yarp/os/NetType.h>
#include <yarp/os/impl/BufferedConnectionWriter.h>
#include <yarp/sig/LayeredImage.h>
#include <yarp/os/Network.h>
#include <yarp/os/PortReaderBuffer.h>
#include <yarp/os/Port.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/Time.h>
#include <yarp/os/Log.h>
#include <yarp/os/PeriodicThread.h>

#include <catch2/catch_amalgamated.hpp>
#include <harness.h>

using namespace yarp::os::impl;
using namespace yarp::sig;
using namespace yarp::os;

TEST_CASE("sig::LayeredImageTest", "[yarp::sig]")
{
NetworkBase::setLocalMode(true);

SECTION("test serialization of layered images composed by a background + 2 layers")
{
FlexImage imageback;
imageback.setPixelCode(VOCAB_PIXEL_RGB);
imageback.resize(4, 8);

FlexImage lay0;
lay0.setPixelCode(VOCAB_PIXEL_RGB);
lay0.resize(4, 8);

FlexImage lay1;
lay1.setPixelCode(VOCAB_PIXEL_RGB);
lay1.resize(4, 8);

LayeredImage multiLayerImageIn;
multiLayerImageIn.background = imageback;
multiLayerImageIn.layers.push_back(lay0);
multiLayerImageIn.layers.push_back(lay1);

LayeredImage multiLayerImageOut;

yarp::os::Bottle output_bot;
bool b1 = Property::copyPortable(multiLayerImageIn, output_bot);
CHECK(b1);

yarp::os::Bottle input_bot = output_bot;
size_t i1 = output_bot.size();
size_t i2 = input_bot.size();
std::string s1 = output_bot.toString();
std::string s2 = input_bot.toString();
CHECK((int)i1 == 23);
CHECK((int)i2 == 23);
std::cout << "s1: " << s1 << std::endl;
std::cout << "s2: " << s2 << std::endl;
bool b2 = Property::copyPortable(input_bot, multiLayerImageOut);
CHECK(b2);

bool b3 = (multiLayerImageIn == multiLayerImageOut);
CHECK(b3);
}

SECTION("test serialization of layered images composed by a background image only")
{
FlexImage imageback;
imageback.setPixelCode(VOCAB_PIXEL_RGB);
imageback.resize(16, 8);

LayeredImage multiLayerImageIn;
multiLayerImageIn.background = imageback;

LayeredImage multiLayerImageOut;

yarp::os::Bottle output_bot;
bool b1 = Property::copyPortable(multiLayerImageIn, output_bot);
CHECK(b1);

yarp::os::Bottle input_bot = output_bot;
size_t i1 = output_bot.size();
size_t i2 = input_bot.size();
std::string s1 = output_bot.toString();
std::string s2 = input_bot.toString();
CHECK((int)i1 == 3);
CHECK((int)i2 == 3);
bool b2 = Property::copyPortable(input_bot, multiLayerImageOut);
CHECK(b2);

bool b3 = (multiLayerImageIn == multiLayerImageOut);
CHECK(b3);
}

SECTION("test alpha layered image")
{
yarp::sig::ImageOf<yarp::sig::PixelRgb> imageback;
imageback.resize(16, 8);
for (size_t iy = 0; iy < imageback.height(); iy++)
for (size_t ix = 0; ix < imageback.width(); ix++) {
imageback.pixel(ix, iy).r = 10;
imageback.pixel(ix, iy).g = 10;
imageback.pixel(ix, iy).b = 10;
}

yarp::sig::ImageOf<yarp::sig::PixelRgb> lay0;
lay0.resize(16, 8);
for (size_t iy = 0; iy < lay0.height(); iy++)
for (size_t ix = 0; ix < lay0.width(); ix++) {
lay0.pixel(ix, iy).r = 8;
lay0.pixel(ix, iy).g = 10;
lay0.pixel(ix, iy).b = 12;
}

LayeredImage multiLayerImageIn;
multiLayerImageIn.background = *(reinterpret_cast<yarp::sig::FlexImage*>(&imageback));
multiLayerImageIn.layers.push_back(*(reinterpret_cast<yarp::sig::FlexImage*>(&lay0)));
multiLayerImageIn.layers[0].alpha.value = 0.5;

FlexImage flat_img = multiLayerImageIn;
yarp::sig::ImageOf<yarp::sig::PixelRgb> flat_rgb_img = *(reinterpret_cast<yarp::sig::ImageOf<yarp::sig::PixelRgb>*>(&flat_img));
for (size_t iy = 0; iy < flat_rgb_img.height() / 2; iy++)
for (size_t ix = 0; ix < flat_rgb_img.width() / 2; ix++) {
CHECK(flat_rgb_img.pixel(ix, iy).r == 9);
CHECK(flat_rgb_img.pixel(ix, iy).g == 10);
CHECK(flat_rgb_img.pixel(ix, iy).b == 11);
}
}

SECTION("test offset layered image")
{
yarp::sig::ImageOf<yarp::sig::PixelRgb> imageback;
imageback.resize(4, 4);
for (size_t iy = 0; iy < imageback.height(); iy++)
for (size_t ix = 0; ix < imageback.width(); ix++) {
imageback.pixel(ix, iy).r = 10;
imageback.pixel(ix, iy).g = 10;
imageback.pixel(ix, iy).b = 10;
}

yarp::sig::ImageOf<yarp::sig::PixelRgb> lay0;
lay0.resize(2, 2);
for (size_t iy = 0; iy < lay0.height(); iy++)
for (size_t ix = 0; ix < lay0.width(); ix++) {
lay0.pixel(ix, iy).r = 20;
lay0.pixel(ix, iy).g = 20;
lay0.pixel(ix, iy).b = 20;
}

LayeredImage multiLayerImageIn;
multiLayerImageIn.background = *(reinterpret_cast<yarp::sig::FlexImage*>(&imageback));
multiLayerImageIn.layers.push_back(*(reinterpret_cast<yarp::sig::FlexImage*>(&lay0)));
multiLayerImageIn.layers[0].offset_x = 2;
multiLayerImageIn.layers[0].offset_y = 1;

FlexImage flat_img = multiLayerImageIn;
yarp::sig::ImageOf<yarp::sig::PixelRgb> flat_rgb_img = *(reinterpret_cast<yarp::sig::ImageOf<yarp::sig::PixelRgb>*>(&flat_img));
CHECK(flat_rgb_img.pixel(0, 0).r == 10);
CHECK(flat_rgb_img.pixel(1, 0).r == 10);
CHECK(flat_rgb_img.pixel(2, 0).r == 10);
CHECK(flat_rgb_img.pixel(3, 0).r == 10);
CHECK(flat_rgb_img.pixel(0, 1).r == 10);
CHECK(flat_rgb_img.pixel(1, 1).r == 10);
CHECK(flat_rgb_img.pixel(2, 1).r == 20);
CHECK(flat_rgb_img.pixel(3, 1).r == 20);
CHECK(flat_rgb_img.pixel(0, 2).r == 10);
CHECK(flat_rgb_img.pixel(1, 2).r == 10);
CHECK(flat_rgb_img.pixel(2, 2).r == 20);
CHECK(flat_rgb_img.pixel(3, 2).r == 20);
CHECK(flat_rgb_img.pixel(0, 3).r == 10);
CHECK(flat_rgb_img.pixel(1, 3).r == 10);
CHECK(flat_rgb_img.pixel(2, 3).r == 10);
CHECK(flat_rgb_img.pixel(3, 3).r == 10);
}

SECTION("test colorkey layered image")
{
yarp::sig::ImageOf<yarp::sig::PixelRgb> imageback;
imageback.resize(4, 4);
for (size_t iy = 0; iy < imageback.height(); iy++)
for (size_t ix = 0; ix < imageback.width(); ix++) {
imageback.pixel(ix, iy).r = 10;
imageback.pixel(ix, iy).g = 10;
imageback.pixel(ix, iy).b = 10;
}

yarp::sig::ImageOf<yarp::sig::PixelRgb> lay0;
lay0.resize(4, 4);
lay0.zero();
imageback.pixel(0, 0).r = 20;
imageback.pixel(1, 0).r = 20;
imageback.pixel(2, 0).r = 20;
imageback.pixel(3, 0).r = 20;
imageback.pixel(0, 1).r = 20;
imageback.pixel(1, 1).r = 50;
imageback.pixel(2, 1).r = 50;
imageback.pixel(3, 1).r = 20;
imageback.pixel(0, 2).r = 20;
imageback.pixel(1, 2).r = 50;
imageback.pixel(2, 2).r = 50;
imageback.pixel(3, 2).r = 20;
imageback.pixel(0, 3).r = 20;
imageback.pixel(1, 3).r = 50;
imageback.pixel(2, 3).r = 20;
imageback.pixel(3, 3).r = 20;

LayeredImage multiLayerImageIn;
multiLayerImageIn.background = *(reinterpret_cast<yarp::sig::FlexImage*>(&imageback));
multiLayerImageIn.layers.push_back(*(reinterpret_cast<yarp::sig::FlexImage*>(&lay0)));

FlexImage flat_img = multiLayerImageIn;
yarp::sig::ImageOf<yarp::sig::PixelRgb> flat_rgb_img = *(reinterpret_cast<yarp::sig::ImageOf<yarp::sig::PixelRgb>*>(&flat_img));

CHECK(flat_rgb_img.pixel(0, 0).r == 10);
CHECK(flat_rgb_img.pixel(1, 0).r == 10);
CHECK(flat_rgb_img.pixel(2, 0).r == 10);
CHECK(flat_rgb_img.pixel(3, 0).r == 10);
CHECK(flat_rgb_img.pixel(0, 1).r == 10);
CHECK(flat_rgb_img.pixel(1, 1).r == 50);
CHECK(flat_rgb_img.pixel(2, 1).r == 50);
CHECK(flat_rgb_img.pixel(3, 1).r == 10);
CHECK(flat_rgb_img.pixel(0, 2).r == 10);
CHECK(flat_rgb_img.pixel(1, 2).r == 50);
CHECK(flat_rgb_img.pixel(2, 2).r == 50);
CHECK(flat_rgb_img.pixel(3, 2).r == 10);
CHECK(flat_rgb_img.pixel(0, 3).r == 10);
CHECK(flat_rgb_img.pixel(1, 3).r == 50);
CHECK(flat_rgb_img.pixel(2, 3).r == 10);
CHECK(flat_rgb_img.pixel(3, 3).r == 10);
}

SECTION("test flattening multi layered image")
{
yarp::sig::ImageOf<yarp::sig::PixelRgb> imageback;
imageback.resize(8, 8);
for (size_t iy = 0; iy < imageback.height(); iy++)
for (size_t ix = 0; ix < imageback.width(); ix++)
{
imageback.pixel(ix, iy).r = 10;
imageback.pixel(ix, iy).g = 10;
imageback.pixel(ix, iy).b = 10;
}

yarp::sig::ImageOf<yarp::sig::PixelRgb> lay0;
lay0.resize(8, 8);
for (size_t iy = 0; iy < lay0.height(); iy++)
for (size_t ix = 0; ix < lay0.width(); ix++) {
lay0.pixel(ix, iy).r = 100;
lay0.pixel(ix, iy).g = 100;
lay0.pixel(ix, iy).b = 100;
}

yarp::sig::ImageOf<yarp::sig::PixelRgb> lay1;
lay1.resize(8, 8);
for (size_t iy = 0; iy < lay1.height(); iy++)
for (size_t ix = 0; ix < lay1.width(); ix++) {
lay1.pixel(ix, iy).r = 101;
lay1.pixel(ix, iy).g = 101;
lay1.pixel(ix, iy).b = 101;
}

yarp::sig::ImageOf<yarp::sig::PixelRgb> lay2;
lay2.resize(8, 8);
for (size_t iy = 0; iy < lay2.height(); iy++)
for (size_t ix = 0; ix < lay2.width(); ix++) {
lay2.pixel(ix, iy).r = 102;
lay2.pixel(ix, iy).g = 102;
lay2.pixel(ix, iy).b = 102;
}

LayeredImage multiLayerImageIn;
multiLayerImageIn.background = *(reinterpret_cast<yarp::sig::FlexImage*>(&imageback));
multiLayerImageIn.layers.push_back(*(reinterpret_cast<yarp::sig::FlexImage*>(&lay0)));
multiLayerImageIn.layers.push_back(*(reinterpret_cast<yarp::sig::FlexImage*>(&lay1)));
multiLayerImageIn.layers[1].enable = false;

FlexImage flat_img = multiLayerImageIn;
yarp::sig::ImageOf<yarp::sig::PixelRgb> flat_rgb_img = *(reinterpret_cast<yarp::sig::ImageOf<yarp::sig::PixelRgb>*>(&flat_img));
for (size_t iy = 0; iy < flat_img.height() ; iy++)
for (size_t ix = 0; ix < flat_img.width() ; ix++)
{
CHECK(flat_rgb_img.pixel(ix, iy).r == 100);
}

multiLayerImageIn.layers.push_back(*(reinterpret_cast<yarp::sig::FlexImage*>(&lay2)));
FlexImage flat_img2 = multiLayerImageIn;
yarp::sig::ImageOf<yarp::sig::PixelRgb> flat_rgb_img2 = *(reinterpret_cast<yarp::sig::ImageOf<yarp::sig::PixelRgb>*>(&flat_img2));
for (size_t iy = 0; iy < flat_img2.height() ; iy++)
for (size_t ix = 0; ix < flat_img2.width() ; ix++) {
CHECK(flat_rgb_img2.pixel(ix, iy).r == 102);
}
}

NetworkBase::setLocalMode(false);
}

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