ImageWriter.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
 
#include <RobotAPI/libraries/armem/client/util/SimpleWriterBase.h>
 
#include <VisionX/libraries/armem/vision/images/core/aron/ImageDepth.aron.generated.h>
#include <VisionX/libraries/armem/vision/images/core/aron/ImageRGB.aron.generated.h>
#include <VisionX/libraries/armem/vision/images/core/constants.h>
 
#include <Image/ByteImage.h>
 
namespace visionx::armem_images::client
{
    namespace detail
    {
        class RGBImageWriter : public armarx::armem::client::util::SimpleWriterBase
        {
        public:
            using Base = armarx::armem::client::util::SimpleWriterBase;
 
            RGBImageWriter(const std::string& providerName) : providerName(providerName){};
 
 
            bool commitRGBImages(const std::vector<cv::Mat>& images,
                                 const armarx::core::time::DateTime& referenceTime);
 
            bool commitRGBImages(const std::vector<CByteImage>& images,
                                 const armarx::core::time::DateTime& referenceTime);
 
        protected:
            std::string propertyPrefix() const final;
            Properties defaultProperties() const final;
 
        private:
            const std::string providerName;
        };
    } // namespace detail
 
    class ImageWriter
    {
    public:
        ImageWriter(const std::string& providerName);
 
        void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
        virtual void connect(armarx::armem::client::MemoryNameSystem& mns);
 
        bool commitRGBImages(const std::vector<cv::Mat>& images,
                             const armarx::core::time::DateTime& referenceTime);
 
        bool commitRGBImages(const std::vector<CByteImage>& images,
                             const armarx::core::time::DateTime& referenceTime);
 
    private:
        detail::RGBImageWriter rgbWriter;
    };
} // namespace visionx::armem_images::client