aron_conversions.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    VisionX::ArmarXObjects::armem_images
 * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
// RobotAPI
#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
 
// IVT
#include <VisionX/tools/OpenCVUtil.h>
 
#include <Image/ByteImage.h>
 
// Aron
#include <VisionX/libraries/armem/vision/images/core/aron/ImageDepth.aron.generated.h>
#include <VisionX/libraries/armem/vision/images/core/aron/ImageRGB.aron.generated.h>
 
namespace visionx::armem_images
{
    template <class AronImageT>
    void
    to_aron(AronImageT& dto, void*& bo)
    {
        cv::Mat& mat = dto.image;
        switch (mat.type())
        {
            case CV_8UC3: // Rgb24
                mat = cv::Mat(mat.rows, mat.cols, mat.type(), bo);
                break;
 
            case CV_32FC1: // Depth32
                visionx::convertWeirdArmarXToDepthInMeters(reinterpret_cast<uint8_t*>(bo), mat);
                break;
        }
    }
 
    template <class AronImageT>
    void
    to_aron(AronImageT& dto, const CByteImage& bo)
    {
        cv::Mat& mat = dto.image;
        switch (mat.type())
        {
            case CV_8UC3: // Rgb24
                mat = cv::Mat(bo.height, bo.width, mat.type(), bo.pixels);
                break;
 
            case CV_32FC1: // Depth32
                visionx::convertWeirdArmarXToDepthInMeters(bo.pixels, mat);
                break;
        }
    }
 
    template <class AronImageT>
    void
    from_aron(const AronImageT& dto, CByteImage& bo)
    {
        bool headerOnly = true;
        const cv::Mat& mat = dto.image;
        switch (mat.type())
        {
            case CV_8UC3: // Rgb24
                bo = CByteImage(mat.cols, mat.rows, CByteImage::eRGB24, headerOnly);
                bo.pixels = mat.data;
                break;
 
            case CV_32FC1: // Depth32
                bo = CByteImage(mat.cols, mat.rows, CByteImage::eRGB24);
                visionx::convertDepthInMetersToWeirdArmarX(mat, &bo);
                break;
        }
    }
 
    template <class AronImageT>
    void
    to_aron(AronImageT& dto, const cv::Mat& bo)
    {
        dto.image = bo;
    }
 
    template <class AronImageT>
    void
    from_aron(const AronImageT& dto, cv::Mat& bo)
    {
        bo = dto.image;
    }
} // namespace visionx::armem_images