Image.cpp

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#include "Image.h"
 
#include <sstream>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/observers/variant/Variant.h>
 
#include <RobotAPI/libraries/armem/client.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
 
#include <Image/ByteImage.h>
 
namespace visionx::armem_images
{
 
    template class Image<visionx::armem_images::arondto::ImageRGB>;
    template class Image<visionx::armem_images::arondto::ImageDepth>;
 
    ImageBase::ImageBase(const armarx::armem::MemoryID& instanceID, size_t imageIndex) :
        instanceID(instanceID), imageIndex(imageIndex)
    {
    }
 
    ImageBase::~ImageBase()
    {
    }
 
    bool
    ImageBase::usePixels(CByteImage** inputImages)
    {
        return usePixels(inputImages[imageIndex]);
    }
 
    bool
    ImageBase::usePixels(void** inputPixelBuffers)
    {
        return usePixels(inputPixelBuffers[imageIndex]);
    }
 
    void
    ImageBase::addQuery(armarx::armem::client::query::Builder& queryBuilder) const
    {
        namespace qf = armarx::armem::client::query_fns;
        queryBuilder.coreSegments(qf::withID(instanceID))
            .providerSegments(qf::withID(instanceID))
            .entities(qf::withID(instanceID))
            .snapshots(qf::latest());
    }
 
    bool
    ImageBase::areSameSize(const CByteImage& lhs, const CByteImage& rhs)
    {
        return lhs.width == rhs.width && lhs.height == rhs.height;
    }
 
    bool
    ImageBase::areSameSize(const cv::Mat& lhs, const cv::Mat& rhs)
    {
        return lhs.cols == rhs.cols && lhs.rows == rhs.rows;
    }
 
    bool
    ImageBase::areSameSize(const cv::Mat& lhs, const CByteImage& rhs)
    {
        return lhs.cols == rhs.width && lhs.rows == rhs.height;
    }
 
    bool
    ImageBase::areSameSize(const CByteImage& lhs, const cv::Mat& rhs)
    {
        return areSameSize(rhs, lhs);
    }
 
    void
    detail::checkNotNull(void* ptr, const char* what)
    {
        ARMARX_CHECK_NOT_NULL(ptr) << what;
    }
 
} // namespace visionx::armem_images