Program Listing for File common.hpp

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// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef IMAGE_PIPELINE__COMMON_HPP_
#define IMAGE_PIPELINE__COMMON_HPP_

#ifdef _WIN32
#include <process.h>
#define GETPID _getpid
#else
#include <unistd.h>
#define GETPID getpid
#endif

#include <chrono>
#include <string>

#include "opencv2/opencv.hpp"
#include "builtin_interfaces/msg/time.hpp"

int
encoding2mat_type(const std::string & encoding)
{
  if (encoding == "mono8") {
    return CV_8UC1;
  } else if (encoding == "bgr8") {
    return CV_8UC3;
  } else if (encoding == "mono16") {
    return CV_16SC1;
  } else if (encoding == "rgba8") {
    return CV_8UC4;
  }
  throw std::runtime_error("Unsupported mat type");
}

std::string
mat_type2encoding(int mat_type)
{
  switch (mat_type) {
    case CV_8UC1:
      return "mono8";
    case CV_8UC3:
      return "bgr8";
    case CV_16SC1:
      return "mono16";
    case CV_8UC4:
      return "rgba8";
    default:
      throw std::runtime_error("Unsupported encoding type");
  }
}

void set_now(builtin_interfaces::msg::Time & time)
{
  std::chrono::nanoseconds now = std::chrono::high_resolution_clock::now().time_since_epoch();
  if (now <= std::chrono::nanoseconds(0)) {
    time.sec = time.nanosec = 0;
  } else {
    time.sec = static_cast<builtin_interfaces::msg::Time::_sec_type>(now.count() / 1000000000);
    time.nanosec = now.count() % 1000000000;
  }
}

void
draw_on_image(cv::Mat & image, const std::string & text, int height)
{
  cv::Mat c_mat = image;
  cv::putText(
    c_mat,
    text.c_str(),
    cv::Point(10, height),
    cv::FONT_HERSHEY_SIMPLEX,
    0.3,
    cv::Scalar(0, 255, 0));
}

#endif  // IMAGE_PIPELINE__COMMON_HPP_