From 5e41def3f3dcb3d9785cc7c4bcd83fe266b3ecc8 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Tue, 1 Mar 2022 17:26:19 +0100
Subject: [PATCH] encode images correctly
---
.../armem/server/ltm/base/converter/image/png/PngConverter.cpp | 2 ++
.../libraries/armem_objects/server/instance/Segment.cpp | 1 +
2 files changed, 3 insertions(+)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp
index f2ab4d8db..24fc8be1f 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.cpp
@@ -15,6 +15,7 @@ namespace armarx::armem::server::ltm::converter::image
ARMARX_CHECK_NOT_NULL(data);
auto img = aron::converter::AronOpenCVConverter::ConvertToMat(data);
+ cv::cvtColor(img, img, CV_RGB2BGR);
std::vector<unsigned char> buffer;
cv::imencode(".png", img, buffer);
return buffer;
@@ -23,6 +24,7 @@ namespace armarx::armem::server::ltm::converter::image
aron::data::NDArrayPtr PngConverter::_convert(const std::vector<unsigned char>& data)
{
cv::Mat img = cv::imdecode(data, cv::IMREAD_COLOR);
+ cv::cvtColor(img, img, CV_BGR2RGB);
return aron::converter::AronOpenCVConverter::ConvertFromMat(img);
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 0dbe6db72..351d0f5ac 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -975,6 +975,7 @@ namespace armarx::armem::server::obj::instance
std::filesystem::path filename = path->filename();
filename.replace_extension(); // Removes extension
+ // The check seems useless?
if (lockMemory)
{
commitSceneSnapshot(snapshot.value(), filename.string());
--
GitLab