ImageReader.cpp

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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
 */
 
#include "ImageReader.h"
 
#include <opencv2/highgui.hpp>
 
#include <VisionX/libraries/armem/vision/camera/core/aron_conversions.h>
 
namespace visionx::armem_images::client
{
    std::string
    detail::RGBImageReader::propertyPrefix() const
    {
        return "rgbReader.";
    }
 
    armarx::armem::client::util::SimpleReaderBase::Properties
    detail::RGBImageReader::defaultProperties() const
    {
        armarx::armem::client::util::SimpleReaderBase::Properties p;
        p.memoryName = "Vision";
        p.coreSegmentName = "ImageRGB";
 
        return p;
    }
 
    void
    detail::RGBImageReader::getLatestRGBImages(const std::string& providerSegmentName,
                                               std::vector<cv::Mat>& ret)
    {
        auto mid = armarx::armem::MemoryID();
        mid.memoryName = properties().memoryName;
        mid.coreSegmentName = properties().coreSegmentName;
        mid.providerSegmentName = providerSegmentName;
        mid.entityName = "images";
 
        auto res = this->memoryReader().getLatestSnapshotIn(mid);
 
        if (res.has_value())
        {
            res->forEachInstance(
                [&ret](const armarx::armem::wm::EntityInstance& i)
                {
                    auto data = i.dataAs<visionx::armem_images::arondto::ImageRGB>();
                    ret.push_back(data.image);
                });
        }
    }
 
    std::vector<CByteImage*>
    detail::RGBImageReader::getLatestRGBCByteImages(const std::string& providerSegmentName)
    {
        std::vector<cv::Mat> mats;
        getLatestRGBImages(providerSegmentName, mats);
 
        std::vector<CByteImage*> ret;
        ret.reserve(mats.size());
 
        for (const auto& m : mats)
        {
            ARMARX_CHECK(m.dims == 2);
 
            CByteImage* i;
 
            if (m.elemSize() == 1)
            {
                i = new CByteImage(m.cols, m.rows, CByteImage::ImageType::eGrayScale);
            }
            else if (m.elemSize() == 3)
            {
                i = new CByteImage(m.cols, m.rows, CByteImage::ImageType::eRGB24);
            }
            else
            {
                throw armarx::LocalException("Only grayscale and RGB images are allow for "
                                             "conversion from cv::mat to cbyteimage.");
            }
 
            ARMARX_CHECK_EQUAL(i->width, m.cols);
            ARMARX_CHECK_EQUAL(i->height, m.rows);
            ARMARX_CHECK_EQUAL(i->bytesPerPixel, m.elemSize());
            std::memcpy(i->pixels, m.data, i->width * i->height * i->bytesPerPixel);
 
            ret.emplace_back(i);
        }
 
        return ret;
    }
 
    std::string
    detail::DepthImageReader::propertyPrefix() const
    {
        return "depthReader.";
    }
 
    armarx::armem::client::util::SimpleReaderBase::Properties
    detail::DepthImageReader::defaultProperties() const
    {
        armarx::armem::client::util::SimpleReaderBase::Properties p;
        p.memoryName = "Vision";
        p.coreSegmentName = "ImageDepth";
 
        return p;
    }
 
    std::vector<cv::Mat>
    detail::DepthImageReader::getLatestDepthImages(const std::string& providerSegmentName)
    {
        auto mid = armarx::armem::MemoryID();
        mid.memoryName = properties().memoryName;
        mid.coreSegmentName = properties().coreSegmentName;
        mid.providerSegmentName = providerSegmentName;
        mid.entityName = "images";
 
        auto res = this->memoryReader().getLatestSnapshotIn(mid);
 
        std::vector<cv::Mat> ret;
        if (res.has_value())
        {
            res->forEachInstance(
                [&ret](const armarx::armem::wm::EntityInstance& i)
                {
                    auto data = i.dataAs<visionx::armem_images::arondto::ImageDepth>();
                    ret.push_back(data.image);
                });
        }
        return ret;
    }
 
    std::optional<visionx::StereoCalibration>
    detail::CameraCalibrationReader::getStereoCameraCalibration(
        const std::string& providerSegmentName)
    {
        std::optional<visionx::StereoCalibration> stereoCalibration = std::nullopt;
 
        auto mid = armarx::armem::MemoryID();
        mid.memoryName = "Vision";
        mid.coreSegmentName = "StereoCameraCalibration";
        mid.providerSegmentName = providerSegmentName;
        mid.entityName = "CameraCalibration";
 
        auto res = this->memoryReader().getLatestSnapshotIn(mid);
 
        if (res.has_value())
        {
            std::vector<visionx::arondto::StereoCameraCalibration> calibration;
            res->forEachInstance(
                [&calibration](const armarx::armem::wm::EntityInstance& i)
                {
                    auto data = i.dataAs<visionx::arondto::StereoCameraCalibration>();
                    calibration.push_back(data);
                });
 
            if (calibration.size() > 0)
            {
                //now also convert calibration to bo object:
                visionx::arondto::StereoCameraCalibration dto = calibration[0];
 
                visionx::armem::camera::fromAron(stereoCalibration.emplace(), dto);
            }
        }
 
        return stereoCalibration;
    }
 
    /**
    visionx::MonocularCalibration 
    detail::CameraCalibrationReader::getMonoCameraCalibration(const std::string& providerSegmentName)
    {
        std::vector<visionx::arondto::MonocularCameraCalibration> calibration;
        auto mid = armarx::armem::MemoryID();
        mid.memoryName = "Vision";
        if(providerSegmentName == "AzureKinectPointCloudProvider"){
            mid.coreSegmentName = "StereoCameraCalibration";
        } else {
            mid.coreSegmentName = "MonocularCameraCalibration";
        }
        
        mid.providerSegmentName = providerSegmentName;
        mid.entityName = "CameraCalibration";
 
        auto res = this->memoryReader().getLatestSnapshotIn(mid);
 
        if (res.has_value())
        {
            res->forEachInstance(
                [&calibration](const armarx::armem::wm::EntityInstance& i)
                {
                    auto data = i.dataAs<visionx::arondto::MonocularCameraCalibration>();
                    calibration.push_back(data);
                });
        }
        visionx::MonocularCameraCalibration toReturn;
        fromAron(&toReturn, &calibration[0]);
        return toReturn;
    }
    **/
 
    std::string
    detail::CameraCalibrationReader::propertyPrefix() const
    {
        return "cameraCalibrationReader.";
    }
 
    armarx::armem::client::util::SimpleReaderBase::Properties
    detail::CameraCalibrationReader::defaultProperties() const
    {
        armarx::armem::client::util::SimpleReaderBase::Properties p;
        p.memoryName = "Vision";
        p.coreSegmentName = "StereoCameraCalibration";
 
        return p;
    }
 
    void
    ImageReader::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
    {
        rgbReader.registerPropertyDefinitions(def);
        depthReader.registerPropertyDefinitions(def);
        cameraCalibrationReader.registerPropertyDefinitions(def);
    }
 
    void
    ImageReader::connect(armarx::armem::client::MemoryNameSystem& mns)
    {
        rgbReader.connect(mns);
        depthReader.connect(mns);
        cameraCalibrationReader.connect(mns);
    }
 
    void
    ImageReader::getLatestRGBImages(const std::string& providerSegmentName,
                                    std::vector<cv::Mat>& ret)
    {
        rgbReader.getLatestRGBImages(providerSegmentName, ret);
    }
 
    std::vector<CByteImage*>
    ImageReader::getLatestRGBCByteImages(const std::string& providerSegmentName)
    {
        return rgbReader.getLatestRGBCByteImages(providerSegmentName);
    }
 
    std::vector<cv::Mat>
    ImageReader::getLatestDepthImages(const std::string& providerSegmentName)
    {
        return depthReader.getLatestDepthImages(providerSegmentName);
    }
 
    std::optional<visionx::StereoCalibration>
    ImageReader::getStereoCameraCalibration(const std::string& providerSegmentName)
    {
        return cameraCalibrationReader.getStereoCameraCalibration(providerSegmentName);
    }
 
    /**
    visionx::MonocularCalibration 
    ImageReader::getMonoCameraCalibration(const std::string& providerSegmentName){
        return cameraCalibrationReader.getMonoCameraCalibration(providerSegmentName);
    }
    **/
 
} // namespace visionx::armem_images::client