diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h
index 9dedb572fdc8b4ff31c6018f238009d45fde6763..15ebde328ec72b9f189f542087fd7753c2a3faf0 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/EntityBase.h
+++ b/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;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
index bec7576234c8f6bbc9064745f2d0cdc0f8ef333b..c0973aa90b7d54a3efde6f331e8ddaab65e0393b 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
+++ b/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)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
index 6c87da45e576c10c18c6680141e00ed8c19aa3ba..8b00d8d39b8fa49de6c31d8b617549d97e6a45cb 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
+++ b/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)
{
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h
index 759b22733612c700ec0461541976cf3872d9df07..3d98ef1bf8abe315e005a110ad6fa807f373d7ba 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.h
+++ b/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;
diff --git a/source/RobotAPI/libraries/aron/converter/binary/CMakeLists.txt b/source/RobotAPI/libraries/aron/converter/binary/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7fa2684a23d3ef1e887a5f11b1c5aa83cbbe4b8f
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/binary/CMakeLists.txt
@@ -0,0 +1,34 @@
+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)
diff --git a/source/RobotAPI/libraries/aron/converter/binary/LTMVectorRepresentationConverter.cpp b/source/RobotAPI/libraries/aron/converter/binary/LTMVectorRepresentationConverter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..999359d6b79ef56bbe7352263556ad71316e7384
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/binary/LTMVectorRepresentationConverter.cpp
@@ -0,0 +1,53 @@
+/*
+ * 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;
+ }
+}
diff --git a/source/RobotAPI/libraries/aron/converter/binary/LTMVectorRepresentationConverter.h b/source/RobotAPI/libraries/aron/converter/binary/LTMVectorRepresentationConverter.h
new file mode 100644
index 0000000000000000000000000000000000000000..6d0c23d3b598c7dc55334c7181fa39885ee15ce4
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/converter/binary/LTMVectorRepresentationConverter.h
@@ -0,0 +1,45 @@
+/*
+* 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>&);
+ };
+}