IVTConverter.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
 * Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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/>.
 *
 * @author     Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
// STD/STL
#include <numeric>
 
// Header
#include "IVTConverter.h"
 
namespace armarx::aron::data::converter
{
    std::shared_ptr<CByteImage>
    AronIVTConverter::ConvertToCByteImage(const data::NDArrayPtr& nav)
    {
        ARMARX_CHECK_NOT_NULL(nav);
 
        if (nav->getShape().size() != 3) // +1 for bytes per pixel
        {
            throw error::AronException(
                __PRETTY_FUNCTION__, "The size of an NDArray does not match.", nav->getPath());
        }
 
        auto dims = nav->getShape();
 
        auto ret = std::make_shared<CByteImage>();
 
        ret->Set(dims[0], dims[1], static_cast<CByteImage::ImageType>(std::stoi(nav->getType())));
 
        memcpy(reinterpret_cast<unsigned char*>(ret->pixels),
               nav->getData(),
               std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
 
        return ret;
    }
 
    data::NDArrayPtr
    ConvertFromCByteImage(const std::shared_ptr<CByteImage>& img)
    {
        // TODO:
        return nullptr;
    }
} // namespace armarx::aron::data::converter