cleanup to remove topIsLow from yarp::sig::Image

robotology · Dec 4, 2024 · 6715711 · 6715711
1 parent ca14395
commit 6715711
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Showing 2 changed files with 11 additions and 12 deletions.
diff --git a/src/libYARP_sig/src/yarp/sig/Image.cpp b/src/libYARP_sig/src/yarp/sig/Image.cpp
@@ -45,12 +45,11 @@ inline bool readFromConnection(Image &dest, ImageNetworkHeader &header, Connecti
     //this check is redundant with assertion, I would remove it
     if (dest.getRawImageSize() != static_cast<size_t>(header.imgSize)) {
         printf("There is a problem reading an image\n");
-        printf("incoming: width %zu, height %zu, code %zu, quantum %zu, topIsLow %zu, size %zu\n",
+        printf("incoming: width %zu, height %zu, code %zu, quantum %zu, size %zu\n",
                static_cast<size_t>(header.width),
                static_cast<size_t>(header.height),
                static_cast<size_t>(header.id),
                static_cast<size_t>(header.quantum),
-               static_cast<size_t>(header.topIsLow),
                static_cast<size_t>(header.imgSize));
         printf("my space: width %zu, height %zu, code %d, quantum %zu, size %zu\n",
             dest.width(), dest.height(), dest.getPixelCode(), dest.getQuantum(), allocatedBytes);

diff --git a/src/libYARP_sig/src/yarp/sig/ImageNetworkHeader.h b/src/libYARP_sig/src/yarp/sig/ImageNetworkHeader.h
@@ -31,17 +31,10 @@ class ImageNetworkHeader
     const yarp::os::NetInt32 paramIdTag{BOTTLE_TAG_VOCAB32};
     yarp::os::NetInt32 id{0};
     const yarp::os::NetInt32 paramListTag{BOTTLE_TAG_LIST + BOTTLE_TAG_INT32};
-    // WARNING This is 5 and not 6 because quantum and topIsLow are
-    //         transmitted in the same 32 bits for compatibility with
-    //         YARP 3.4 and older
     const yarp::os::NetInt32 paramListLen{5};
     yarp::os::NetInt32 depth{0};
     yarp::os::NetInt32 imgSize{0};
-    yarp::os::NetInt16 quantum{0};
-    // WARNING The topIsLowIndex field in the ImageNetworkHeader is `0` for
-    //         `true` and `1` for `false` for compatibility with YARP 3.4
-    //         and older
-    yarp::os::NetInt16 topIsLow{0};
+    yarp::os::NetInt32 quantum{0};
     yarp::os::NetInt32 width{0};
     yarp::os::NetInt32 height{0};
     const yarp::os::NetInt32 paramBlobTag{BOTTLE_TAG_BLOB};
@@ -52,12 +45,19 @@ class ImageNetworkHeader
         id = image.getPixelCode();
         depth = image.getPixelSize();
         imgSize = image.getRawImageSize();
-        quantum = static_cast<yarp::os::NetInt16>(image.getQuantum());
-        topIsLow = 1;
+        quantum = image.getQuantum();
         width = image.width();
         height = image.height();
         paramBlobLen = image.getRawImageSize();
     }
+
+    void setToImage(FlexImage& image)
+    {
+        image.setPixelCode(id);
+        //setPixelSize() is already set by setPixelCode
+        image.setQuantum(quantum);
+        image.resize(width, height);
+    }
 };
 YARP_END_PACK