helper.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::imrec
 * @author     Christian R. G. Dreher <christian.dreher@student.kit.edu>
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#include <VisionX/libraries/imrec/helper.h>
 
 
// STD/STL
#include <cstring>
#include <iomanip>
#include <sstream>
 
// OpenCV 2
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
 
// IVT
#include <Image/ByteImage.h>
 
void
visionx::imrec::convert(const CByteImage& in, cv::Mat& out)
{
    // Initialise RGB OpenCV image from CByteImage
    cv::Mat cv_frame(cv::Size(in.width, in.height), CV_8UC3, CV_MAT_CN(CV_8UC3));
    std::memcpy(cv_frame.data,
                in.pixels,
                static_cast<unsigned int>(in.width * in.height * in.bytesPerPixel));
 
    // Convert to BGR OpenCV image (OpenCV assumes this format by default)
    cv::cvtColor(cv_frame, cv_frame, cv::COLOR_RGB2BGR);
    out = cv_frame;
}
 
void
visionx::imrec::convert(const cv::Mat& in, CByteImage& out)
{
    // Create a cv::Mat copy and convert to RGB format
    cv::Mat frame_cpy(in.size(), in.type());
    cv::cvtColor(in, frame_cpy, cv::COLOR_BGR2RGB);
 
    visionx::imrec::convert_rgb2cbi(frame_cpy, out);
}
 
void
visionx::imrec::convert_rgb2cbi(const cv::Mat& in, CByteImage& out)
{
    // TODO: Down the line this might be merged into convert with a conversion selection.
    // Currently convert expects a BGR image but proceeds to convert to RGB, first.
 
    // Initialise CByteImage and copy pixel data
    out.Set(in.size().width, in.size().height, ::CByteImage::ImageType::eRGB24);
    std::memcpy(out.pixels,
                in.data,
                static_cast<unsigned int>(in.size().height * in.size().width * in.channels()));
}
 
std::string
visionx::imrec::datetime_to_string(std::chrono::microseconds ts)
{
    std::chrono::time_point<std::chrono::system_clock> tp{ts};
    time_t time = std::chrono::system_clock::to_time_t(tp);
 
    struct tm tstruct;
    tstruct = *localtime(&time); // use locale time
    //tstruct = *gmtime(&time);     // use UTC time
 
    int time_us = ts.count() % 1000;
    int time_ms = std::chrono::duration_cast<std::chrono::milliseconds>(ts).count() % 1000;
    int time_s = tstruct.tm_sec;
    int time_m = tstruct.tm_min;
    int time_h = tstruct.tm_hour;
 
    int date_d = tstruct.tm_mday;
    int date_m = tstruct.tm_mon + 1;
    int date_y = tstruct.tm_year + 1900;
 
    std::stringstream ss;
    ss << std::setw(4) << std::setfill('0') << date_y << "-"; // year
    ss << std::setw(2) << std::setfill('0') << date_m << "-"; // month
    ss << std::setw(2) << std::setfill('0') << date_d << "_"; // day
 
    ss << std::setw(2) << std::setfill('0') << time_h << "-"; // hour
    ss << std::setw(2) << std::setfill('0') << time_m << "-"; // minute
    ss << std::setw(2) << std::setfill('0') << time_s << "-"; // second
 
    ss << std::setw(3) << std::setfill('0') << time_ms; // millisecond
    ss << std::setw(3) << std::setfill('0') << time_us; // microsecond
 
    return ss.str();
}
 
std::string
visionx::imrec::timestamp_to_string(std::chrono::microseconds ts)
{
    int us = ts.count() % 1000;
    int ms = std::chrono::duration_cast<std::chrono::milliseconds>(ts).count() % 1000;
    int s = std::chrono::duration_cast<std::chrono::seconds>(ts).count();
    int m = std::chrono::duration_cast<std::chrono::minutes>(ts).count();
    int h = std::chrono::duration_cast<std::chrono::hours>(ts).count();
 
    std::stringstream ss;
    ss << std::setw(2) << std::setfill('0') << h << "_"; // hour
    ss << std::setw(2) << std::setfill('0') << m << "_"; // minute
    ss << std::setw(2) << std::setfill('0') << s << "_"; // second
 
    ss << std::setw(3) << std::setfill('0') << ms; // millisecond
    ss << std::setw(3) << std::setfill('0') << us; // microsecond
 
    return ss.str();
}