ImageWriter.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 "ImageWriter.h"
 
namespace visionx::armem_images::client
{
    bool
    detail::RGBImageWriter::commitRGBImages(const std::vector<cv::Mat>& images,
                                            const armarx::core::time::DateTime& referenceTime)
    {
        auto mid = armarx::armem::MemoryID();
        mid.memoryName = properties().memoryName;
        mid.coreSegmentName = properties().coreSegmentName;
        mid.providerSegmentName = properties().providerName;
        mid.entityName = "images";
 
        auto commit = armarx::armem::Commit();
        auto& update = commit.add();
 
        update.confidence = 1.0;
        update.referencedTime = referenceTime;
        update.entityID = mid;
        update.sentTime = armarx::core::time::DateTime::Now();
 
        for (const auto& i : images)
        {
            visionx::armem_images::arondto::ImageRGB aron;
            aron.image = i;
            update.instancesData.push_back(aron.toAron());
        }
 
        auto res = this->memoryWriter().commit(commit);
        return res.allSuccess();
    }
 
    bool
    detail::RGBImageWriter::commitRGBImages(const std::vector<CByteImage>& images,
                                            const armarx::core::time::DateTime& referenceTime)
    {
        std::vector<cv::Mat> mats;
        for (const auto& i : images)
        {
            auto& m = mats.emplace_back();
            if (i.type == CByteImage::ImageType::eRGB24)
            {
                m = cv::Mat(i.height, i.width, CV_8UC3);
            }
            else if (i.type == CByteImage::ImageType::eGrayScale)
            {
                m = cv::Mat(i.height, i.width, CV_8UC1);
            }
            else
            {
                throw armarx::LocalException("Could not convert a CByteImage to cv::Mat. Only RGB "
                                             "and Grayscale are allowed.");
            }
 
            ARMARX_CHECK(i.width == m.cols);
            ARMARX_CHECK(i.height == m.rows);
            ARMARX_CHECK(i.bytesPerPixel == m.elemSize());
            std::memcpy(m.data, i.pixels, m.rows * m.cols * m.elemSize());
        }
        return commitRGBImages(mats, referenceTime);
    }
 
    std::string
    detail::RGBImageWriter::propertyPrefix() const
    {
        return "rgbWriter.";
    }
 
    armarx::armem::client::util::SimpleWriterBase::Properties
    detail::RGBImageWriter::defaultProperties() const
    {
        armarx::armem::client::util::SimpleWriterBase::Properties p;
        p.memoryName = "Vision";
        p.coreSegmentName = "ImageRGB";
        p.providerName = providerName;
        return p;
    }
 
    ImageWriter::ImageWriter(const std::string& providerName) : rgbWriter(providerName)
    {
    }
 
    void
    ImageWriter::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
    {
        rgbWriter.registerPropertyDefinitions(def);
    }
 
    void
    ImageWriter::connect(armarx::armem::client::MemoryNameSystem& mns)
    {
        rgbWriter.connect(mns);
    }
 
    bool
    ImageWriter::commitRGBImages(const std::vector<cv::Mat>& images,
                                 const armarx::core::time::DateTime& referenceTime)
    {
        return rgbWriter.commitRGBImages(images, referenceTime);
    }
 
    bool
    ImageWriter::commitRGBImages(const std::vector<CByteImage>& images,
                                 const armarx::core::time::DateTime& referenceTime)
    {
        return rgbWriter.commitRGBImages(images, referenceTime);
    }
 
} // namespace visionx::armem_images::client