ImageBuffer.cpp

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#include "ImageBuffer.h"
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
#include <VisionX/core/ImageProcessor.h>
#include <VisionX/tools/ImageUtil.h>
 
namespace visionx
{
 
    ImageBuffer::~ImageBuffer()
    {
        if (images)
        {
            deallocate();
        }
    }
 
    void
    ImageBuffer::allocate(const visionx::ImageProviderInfo& providerInfo)
    {
        ARMARX_CHECK_NULL(images) << "Images have already been allocated.";
 
        std::scoped_lock lock(mutex);
 
        numImages = providerInfo.numberImages;
 
        images = new CByteImage*[numImages];
        for (size_t i = 0; i < numImages; i++)
        {
            images[i] = visionx::tools::createByteImage(providerInfo);
        }
    }
 
    void
    ImageBuffer::deallocate()
    {
        ARMARX_CHECK_NOT_NULL(images)
            << "Images have not yet been allocated and thus cannot be deallocated.";
 
        std::scoped_lock lock(mutex);
        for (size_t i = 0; i < numImages; i++)
        {
            delete images[i];
        }
        delete[] images;
 
        images = nullptr;
    }
 
    void
    ImageBuffer::update(std::function<void(CByteImage**)> setImagesFn)
    {
        std::scoped_lock lock(mutex);
        ARMARX_CHECK_NOT_NULL(images) << "Images must be allocated before calling update().";
        setImagesFn(images);
        imagesSeq++;
    }
} // namespace visionx