static void checkGlError(const char* file, int line) {
GLenum error = glGetError();
if (error != GL_NO_ERROR) {
switch(error) {
case GL_INVALID_ENUM:
yError() << "OpenGL Error GL_INVALID_ENUM: GLenum argument out of range";
break;
case GL_INVALID_VALUE:
yError() << "OpenGL Error GL_INVALID_VALUE: Numeric argument out of range";
break;
case GL_INVALID_OPERATION:
yError() << "OpenGL Error GL_INVALID_OPERATION: Operation illegal in current state";
break;
case GL_STACK_OVERFLOW:
yError() << "OpenGL Error GL_STACK_OVERFLOW: Command would cause a stack overflow";
break;
case GL_OUT_OF_MEMORY:
yError() << "OpenGL Error GL_OUT_OF_MEMORY: Not enough memory left to execute command";
break;
default:
yError() << "OpenGL Error " << error;
break;
}
}
yAssert(error == 0);
}
RobotInterface::CalibratorThread::CalibratorThread(yarp::dev::ICalibrator *calibrator,
const std::string &calibratorName,
yarp::dev::DeviceDriver *target,
const std::string &targetName,
RobotInterface::CalibratorThread::Action action) :
mPriv(new Private(this))
{
yAssert(calibrator);
yAssert(target);
yAssert(action == ActionCalibrate || action == ActionPark);
mPriv->calibrator = calibrator;
mPriv->calibratorName = calibratorName;
mPriv->target = target;
mPriv->targetName = targetName;
mPriv->action = action;
}
bool deBayer_GRBG8_TO_RGB(yarp::sig::Image &source, yarp::sig::Image &dest, int pixelSize)
{
yAssert(((pixelSize == 3) && (dest.getPixelCode() == VOCAB_PIXEL_RGB)) ||
((pixelSize == 4 && dest.getPixelCode() == VOCAB_PIXEL_RGBA)))
dest.resize(source.width(), source.height());
// perform conversion, skip borders
for (int r = 0; r < source.height() - 2; r += 2)
{
unsigned char *destRow = dest.getRow(r);
unsigned char *sourceRowCurrent = source.getRow(r);
unsigned char *sourceRowNext = source.getRow(r + 1);
//row i GRGRGR...
for (int c = 0; c < source.width() - 2; c += 2)
{
//source is on G pixel
destRow[0] = sourceRowCurrent[1]; //red
destRow[1] = sourceRowCurrent[0]; //green
destRow[2] = sourceRowNext[0];; //blue
//jump a pixel in destination
destRow += pixelSize;
sourceRowCurrent++;
sourceRowNext++;
//source is now on R pixel
destRow[0] = sourceRowCurrent[0]; //red
destRow[1] = sourceRowCurrent[1]; //green
destRow[2] = sourceRowNext[0]; //red
destRow += pixelSize;
sourceRowCurrent++;
sourceRowNext++;
}
destRow = dest.getRow(r + 1);
sourceRowCurrent = source.getRow(r + 1);
sourceRowNext = source.getRow(r + 2);
//row is now BGBGBG...
for (int c = 0; c < dest.width() - 2; c += 2)
{
//source is on B pixel
destRow[0] = sourceRowNext[1]; //red
destRow[1] = sourceRowCurrent[1]; //green
destRow[2] = sourceRowCurrent[0]; //blue
//jump a pixel in destination
destRow += pixelSize;
sourceRowCurrent++;
sourceRowNext++;
//source is now on G pixel
destRow[0] = sourceRowNext[0]; //red
destRow[1] = sourceRowCurrent[0]; //green
destRow[2] = sourceRowCurrent[1]; //blue
destRow += pixelSize;
sourceRowCurrent++;
sourceRowNext++;
}
}
return true;
}