60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
//
|
|
// Created by flo on 09.11.20.
|
|
//
|
|
|
|
#pragma once
|
|
|
|
#include "carla/Memory.h"
|
|
#include "carla/sensor/RawData.h"
|
|
|
|
#include <cstdint>
|
|
#include <cstring>
|
|
|
|
namespace carla {
|
|
namespace sensor {
|
|
|
|
class SensorData;
|
|
|
|
namespace s11n {
|
|
|
|
/// Serializes image buffers generated by camera sensors.
|
|
class OpticalFlowImageSerializer {
|
|
public:
|
|
|
|
#pragma pack(push, 1)
|
|
struct ImageHeader {
|
|
uint32_t width;
|
|
uint32_t height;
|
|
float fov_angle;
|
|
};
|
|
#pragma pack(pop)
|
|
|
|
constexpr static auto header_offset = sizeof(ImageHeader);
|
|
|
|
static const ImageHeader &DeserializeHeader(const RawData &data) {
|
|
return *reinterpret_cast<const ImageHeader *>(data.begin());
|
|
}
|
|
|
|
template <typename Sensor>
|
|
static Buffer Serialize(const Sensor &sensor, Buffer &&bitmap);
|
|
|
|
static SharedPtr<SensorData> Deserialize(RawData &&data);
|
|
};
|
|
|
|
template <typename Sensor>
|
|
inline Buffer OpticalFlowImageSerializer::Serialize(const Sensor &sensor, Buffer &&bitmap) {
|
|
DEBUG_ASSERT(bitmap.size() > sizeof(ImageHeader));
|
|
ImageHeader header = {
|
|
sensor.GetImageWidth(),
|
|
sensor.GetImageHeight(),
|
|
sensor.GetFOVAngle()
|
|
};
|
|
std::memcpy(bitmap.data(), reinterpret_cast<const void *>(&header), sizeof(header));
|
|
return std::move(bitmap);
|
|
}
|
|
|
|
} // namespace s11n
|
|
} // namespace sensor
|
|
} // namespace carla
|
|
|