NormalsImageSerializer.h

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//
// 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 NormalsImageSerializer {
      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 NormalsImageSerializer::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