copy ltm iterator function, added ltm vector representation converter

source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h

@@ -59,11 +59,11 @@ namespace armarx::armem::server::ltm
         }
 
         /// iterate over all entity snapshots of this ltm
-        virtual bool forEachSnapshot(std::function<void(EntitySnapshotT&)>&& func) const = 0;
-        virtual bool forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshotT&)>&& func) const = 0;
-        virtual bool forEachSnapshotInTimeRange(const Time& min, const Time& max, std::function<void(EntitySnapshotT&)>&& func) const = 0;
-        virtual bool forEachSnapshotBeforeOrAt(const Time& time, std::function<void(EntitySnapshotT&)>&& func) const = 0;
-        virtual bool forEachSnapshotBefore(const Time& time, std::function<void(EntitySnapshotT&)>&& func) const = 0;
+        virtual bool forEachSnapshot(std::function<void(EntitySnapshotT&)> func) const = 0;
+        virtual bool forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshotT&)> func) const = 0;
+        virtual bool forEachSnapshotInTimeRange(const Time& min, const Time& max, std::function<void(EntitySnapshotT&)> func) const = 0;
+        virtual bool forEachSnapshotBeforeOrAt(const Time& time, std::function<void(EntitySnapshotT&)> func) const = 0;
+        virtual bool forEachSnapshotBefore(const Time& time, std::function<void(EntitySnapshotT&)> func) const = 0;
 
         /// find entity snapshot segment
         virtual std::shared_ptr<EntitySnapshotT> findSnapshot(const Time&) const = 0;

source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h

@@ -126,7 +126,7 @@ namespace armarx::armem::server::ltm
         virtual bool forEachCoreSegment(std::function<void(CoreSegmentT&)>&& func) const = 0;
 
         /// find core segment
-        virtual std::shared_ptr<CoreSegmentT> findCoreSegment(const std::string&) const = 0;
+        virtual std::shared_ptr<CoreSegmentT> findCoreSegment(const std::string&) const = 0; // TODO make unique!!
 
         /// default parameters. Implementation should use the configuration to configure
         virtual void createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix)

source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp

@@ -21,7 +21,7 @@ namespace armarx::armem::server::ltm::disk
     {
     }
 
-    bool Entity::forEachSnapshot(std::function<void(EntitySnapshot&)>&& func) const
+    bool Entity::forEachSnapshot(std::function<void(EntitySnapshot&)> func) const
     {
         auto mPath = getMemoryBasePathForMode(currentMode, currentExport);
         auto relPath = getRelativePathForMode(currentMode);
@@ -75,7 +75,7 @@ namespace armarx::armem::server::ltm::disk
         return true;
     }
 
-    bool Entity::forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshot&)>&& func) const
+    bool Entity::forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshot&)> func) const
     {
         ARMARX_WARNING << "PLEASE NOTE THAT QUERYING THE LTM INDEX WISE MAY BE BUGGY BECAUSE THE FILESYSTEM ITERATOR IS UNSORTED!";
 
@@ -106,7 +106,7 @@ namespace armarx::armem::server::ltm::disk
         return forEachSnapshot(std::move(f));
     }
 
-    bool Entity::forEachSnapshotInTimeRange(const Time& min, const Time& max, std::function<void(EntitySnapshot&)>&& func) const
+    bool Entity::forEachSnapshotInTimeRange(const Time& min, const Time& max, std::function<void(EntitySnapshot&)> func) const
     {
         auto f = [&](EntitySnapshot& e)
         {
@@ -120,7 +120,7 @@ namespace armarx::armem::server::ltm::disk
         return forEachSnapshot(std::move(f));
     }
 
-    bool Entity::forEachSnapshotBeforeOrAt(const Time& time, std::function<void(EntitySnapshot&)>&& func) const
+    bool Entity::forEachSnapshotBeforeOrAt(const Time& time, std::function<void(EntitySnapshot&)> func) const
     {
         auto f = [&](EntitySnapshot& e)
         {
@@ -134,7 +134,7 @@ namespace armarx::armem::server::ltm::disk
         return forEachSnapshot(std::move(f));
     }
 
-    bool Entity::forEachSnapshotBefore(const Time& time, std::function<void(EntitySnapshot&)>&& func) const
+    bool Entity::forEachSnapshotBefore(const Time& time, std::function<void(EntitySnapshot&)> func) const
     {
         auto f = [&](EntitySnapshot& e)
         {

source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h

@@ -18,11 +18,11 @@ namespace armarx::armem::server::ltm::disk
     public:
         Entity(const std::filesystem::path& parentPath, const MemoryID& id, const std::shared_ptr<Processors>& p, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e);
 
-        bool forEachSnapshot(std::function<void(EntitySnapshot&)>&& func) const override;
-        bool forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshot&)>&& func) const override;
-        bool forEachSnapshotInTimeRange(const Time& min, const Time& max, std::function<void(EntitySnapshot&)>&& func) const override;
-        bool forEachSnapshotBeforeOrAt(const Time& time, std::function<void(EntitySnapshot&)>&& func) const override;
-        bool forEachSnapshotBefore(const Time& time, std::function<void(EntitySnapshot&)>&& func) const override;
+        bool forEachSnapshot(std::function<void(EntitySnapshot&)> func) const override;
+        bool forEachSnapshotInIndexRange(long first, long last, std::function<void(EntitySnapshot&)> func) const override;
+        bool forEachSnapshotInTimeRange(const Time& min, const Time& max, std::function<void(EntitySnapshot&)> func) const override;
+        bool forEachSnapshotBeforeOrAt(const Time& time, std::function<void(EntitySnapshot&)> func) const override;
+        bool forEachSnapshotBefore(const Time& time, std::function<void(EntitySnapshot&)> func) const override;
 
         std::shared_ptr<EntitySnapshot> findSnapshot(const Time&) const override;
         std::shared_ptr<EntitySnapshot> findLatestSnapshot() const override;

source/RobotAPI/libraries/aron/converter/binary/CMakeLists.txt

+set(LIB_NAME aronivtconverter)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_build_if(IVT_FOUND "IVT not available")
+armarx_build_if(OpenCV_FOUND "OpenCV not available")
+
+set(LIBS
+    aron 
+    ivt 
+    ivtopencv
+
+    ${IVT_LIBRARIES}
+)
+
+set(LIB_FILES
+    IVTConverter.cpp
+)
+
+set(LIB_HEADERS
+    IVTConverter.h
+)
+
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+if(IVT_FOUND)
+    target_include_directories(aronivtconverter
+        SYSTEM PUBLIC 
+            ${IVT_INCLUDE_DIRS}
+    )
+endif()
+
+add_library(RobotAPI::aron::converter::ivt ALIAS aronivtconverter)

source/RobotAPI/libraries/aron/converter/binary/LTMVectorRepresentationConverter.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * 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/>.
+ *
+ * @author     Fabian Peller-Konrad (fabian dot peller-konrad at kit dot edu)
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+// STD/STL
+#include <numeric>
+
+// Header
+#include "IVTConverter.h"
+
+namespace armarx::aron::converter
+{
+    std::shared_ptr<CByteImage> AronIVTConverter::ConvertToCByteImage(const data::NDArrayPtr& nav)
+    {
+        ARMARX_CHECK_NOT_NULL(nav);
+
+        if (nav->getShape().size() != 3) // +1 for bytes per pixel
+        {
+            throw error::AronException(__PRETTY_FUNCTION__, "The size of an NDArray does not match.", nav->getPath());
+        }
+        auto dims = nav->getShape();
+
+        auto ret = std::make_shared<CByteImage>();
+        ret->Set(dims[0], dims[1], static_cast<CByteImage::ImageType>(std::stoi(nav->getType())));
+        memcpy(reinterpret_cast<unsigned char*>(ret->pixels), nav->getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
+        return ret;
+    }
+
+    data::NDArrayPtr ConvertFromCByteImage(const std::shared_ptr<CByteImage>& img)
+    {
+        // TODO:
+        return nullptr;
+    }
+}

source/RobotAPI/libraries/aron/converter/binary/LTMVectorRepresentationConverter.h

+/*
+* 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/>.
+*
+* @author     Fabian Peller (fabian dot peller at kit dot edu)
+* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+*             GNU General Public License
+*/
+
+#pragma once
+
+// STD/STL
+#include <memory>
+#include <string>
+
+// IVT
+#include <Image/ByteImage.h>
+
+// ArmarX
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <RobotAPI/interface/aron.h>
+#include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
+
+
+namespace armarx::aron::converter
+{
+    class AronIVTConverter
+    {
+        AronIVTConverter() = delete;
+    public:
+        static std::shared_ptr<CByteImage> ConvertToCByteImage(const data::NDArrayPtr&);
+        static data::NDArrayPtr ConvertFromCByteImage(const std::shared_ptr<CByteImage>&);
+    };
+}