From db2e356d0a61a264557e344ccbc588605cfa8ab4 Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Mon, 21 Mar 2022 15:31:37 +0100
Subject: [PATCH] ltm updates and improved export of depth images in exr format
---
.../libraries/armem/server/CMakeLists.txt | 6 ++
.../server/ltm/base/converter/Converter.h | 8 +-
.../ltm/base/converter/image/Converter.cpp | 6 +-
.../ltm/base/converter/image/Converter.h | 12 +--
.../base/converter/image/exr/ExrConverter.cpp | 33 +++++++++
.../base/converter/image/exr/ExrConverter.h | 21 ++++++
.../base/converter/image/png/PngConverter.cpp | 45 ++++++++++--
.../base/converter/image/png/PngConverter.h | 6 +-
.../ltm/base/converter/object/Converter.cpp | 6 +-
.../ltm/base/converter/object/Converter.h | 12 +--
.../converter/object/bson/BsonConverter.cpp | 10 +--
.../converter/object/bson/BsonConverter.h | 6 +-
.../converter/object/json/JsonConverter.cpp | 6 +-
.../converter/object/json/JsonConverter.h | 6 +-
.../armem/server/ltm/base/detail/MemoryBase.h | 15 +---
.../armem/server/ltm/base/detail/MemoryItem.h | 41 +----------
.../server/ltm/base/detail/Processors.cpp | 35 +++++++++
.../armem/server/ltm/base/detail/Processors.h | 52 +++++++++++++
.../server/ltm/base/extractor/Extractor.h | 3 +-
.../imageExtractor/DepthImageExtractor.cpp | 48 ++++++++++++
.../imageExtractor/DepthImageExtractor.h | 31 ++++++++
.../imageExtractor/ImageExtractor.cpp | 2 +-
.../extractor/imageExtractor/ImageExtractor.h | 2 +-
.../armem/server/ltm/disk/CoreSegment.cpp | 5 +-
.../armem/server/ltm/disk/Entity.cpp | 49 +++++++++++--
.../armem/server/ltm/disk/EntitySnapshot.cpp | 73 +++++++++++--------
.../armem/server/ltm/disk/Memory.cpp | 28 ++++---
.../libraries/armem/server/ltm/disk/Memory.h | 5 +-
.../armem/server/ltm/disk/ProviderSegment.cpp | 5 +-
.../server/ltm/disk/detail/util/util.cpp | 23 ++++++
.../armem/server/ltm/disk/detail/util/util.h | 2 +
.../armem_gui/disk/ControlWidget.cpp | 10 +--
.../armem_gui/instance/InstanceView.cpp | 5 +-
33 files changed, 457 insertions(+), 160 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.h
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h
diff --git a/source/RobotAPI/libraries/armem/server/CMakeLists.txt b/source/RobotAPI/libraries/armem/server/CMakeLists.txt
index 7fc48a638..51efca0f2 100644
--- a/source/RobotAPI/libraries/armem/server/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/server/CMakeLists.txt
@@ -45,6 +45,7 @@ set(LIB_FILES
MemoryRemoteGui.cpp
RemoteGuiAronDataVisitor.cpp
+ ltm/base/detail/Processors.cpp
ltm/base/detail/MemoryItem.cpp
ltm/base/detail/MemoryBase.cpp
ltm/base/detail/BufferedMemoryBase.cpp
@@ -60,6 +61,7 @@ set(LIB_FILES
ltm/base/extractor/Extractor.cpp
ltm/base/extractor/imageExtractor/ImageExtractor.cpp
+ ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp
ltm/base/converter/Converter.cpp
ltm/base/converter/object/Converter.cpp
@@ -67,6 +69,7 @@ set(LIB_FILES
ltm/base/converter/object/bson/BsonConverter.cpp
ltm/base/converter/image/Converter.cpp
ltm/base/converter/image/png/PngConverter.cpp
+ ltm/base/converter/image/exr/ExrConverter.cpp
ltm/base/forgetter/Forgetter.cpp
ltm/base/forgetter/LRUForgetter/LRUForgetter.cpp
@@ -120,6 +123,7 @@ set(LIB_HEADERS
MemoryRemoteGui.h
RemoteGuiAronDataVisitor.h
+ ltm/base/detail/Processors.h
ltm/base/detail/MemoryItem.h
ltm/base/detail/MemoryBase.h
ltm/base/detail/BufferedMemoryBase.h
@@ -135,6 +139,7 @@ set(LIB_HEADERS
ltm/base/extractor/Extractor.h
ltm/base/extractor/imageExtractor/ImageExtractor.h
+ ltm/base/extractor/imageExtractor/DepthImageExtractor.h
ltm/base/converter/Converter.h
ltm/base/converter/object/Converter.h
@@ -142,6 +147,7 @@ set(LIB_HEADERS
ltm/base/converter/object/bson/BsonConverter.h
ltm/base/converter/image/Converter.h
ltm/base/converter/image/png/PngConverter.h
+ ltm/base/converter/image/exr/ExrConverter.h
ltm/base/forgetter/Forgetter.h
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.h
index f6eb1f71e..b109bb9af 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/Converter.h
@@ -17,17 +17,19 @@ namespace armarx::armem::server::ltm
Binary
};
- Converter(const ConverterType t, const std::string& s, const aron::type::Descriptor c):
+ Converter(const ConverterType t, const std::string& id, const std::string& s, const aron::type::Descriptor c):
type(t),
+ identifier(id),
suffix(s),
convertsType(c)
{}
virtual ~Converter() = default;
- virtual std::vector<unsigned char> convert(const aron::data::VariantPtr& data) = 0;
- virtual aron::data::VariantPtr convert(const std::vector<unsigned char>& data) = 0;
+ virtual std::pair<std::vector<unsigned char>, std::string> convert(const aron::data::VariantPtr& data) = 0;
+ virtual aron::data::VariantPtr convert(const std::vector<unsigned char>& data, const std::string&) = 0;
const ConverterType type;
+ const std::string identifier;
const std::string suffix;
const aron::type::Descriptor convertsType;
bool enabled = false;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp
index a36db667d..39b4d94b0 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.cpp
@@ -3,15 +3,15 @@
namespace armarx::armem::server::ltm
{
- std::vector<unsigned char> ImageConverter::convert(const aron::data::VariantPtr& data)
+ std::pair<std::vector<unsigned char>, std::string> ImageConverter::convert(const aron::data::VariantPtr& data)
{
auto d = aron::data::NDArray::DynamicCastAndCheck(data);
return _convert(d);
}
- aron::data::VariantPtr ImageConverter::convert(const std::vector<unsigned char>& data)
+ aron::data::VariantPtr ImageConverter::convert(const std::vector<unsigned char>& data, const std::string& m)
{
- auto d = _convert(data);
+ auto d = _convert(data, m);
return d;
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
index 78ba28f4a..a2b2df045 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/Converter.h
@@ -14,17 +14,17 @@ namespace armarx::armem::server::ltm
class ImageConverter : public Converter
{
public:
- ImageConverter(const ConverterType t, const std::string& s):
- Converter(t, s, aron::type::Descriptor::eImage)
+ ImageConverter(const ConverterType t, const std::string& id, const std::string& s):
+ Converter(t, id, s, aron::type::Descriptor::eImage)
{}
virtual ~ImageConverter() = default;
- std::vector<unsigned char> convert(const aron::data::VariantPtr& data) final;
- aron::data::VariantPtr convert(const std::vector<unsigned char>& data) final;
+ std::pair<std::vector<unsigned char>, std::string> convert(const aron::data::VariantPtr& data) final;
+ aron::data::VariantPtr convert(const std::vector<unsigned char>& data, const std::string&) final;
protected:
- virtual std::vector<unsigned char> _convert(const aron::data::NDArrayPtr& data) = 0;
- virtual aron::data::NDArrayPtr _convert(const std::vector<unsigned char>& data) = 0;
+ virtual std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::NDArrayPtr& data) = 0;
+ virtual aron::data::NDArrayPtr _convert(const std::vector<unsigned char>& data, const std::string&) = 0;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.cpp
new file mode 100644
index 000000000..c5eee777b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.cpp
@@ -0,0 +1,33 @@
+#include "ExrConverter.h"
+
+// ArmarX
+#include <RobotAPI/libraries/aron/converter/opencv/OpenCVConverter.h>
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/imgproc.hpp>
+
+
+namespace armarx::armem::server::ltm::converter::image
+{
+ std::pair<std::vector<unsigned char>, std::string> ExrConverter::_convert(const aron::data::NDArrayPtr& data)
+ {
+ ARMARX_CHECK_NOT_NULL(data);
+
+ auto img = aron::converter::AronOpenCVConverter::ConvertToMat(data);
+ std::vector<unsigned char> buffer;
+
+ auto shape = data->getShape(); // we know from the extraction that the shape has 3 elements
+ ARMARX_CHECK_EQUAL(shape.size(), 3);
+ ARMARX_CHECK_EQUAL(shape[2], 4);
+
+ cv::imencode(".exr", img, buffer);
+ return std::make_pair(buffer, "");
+ }
+
+ aron::data::NDArrayPtr ExrConverter::_convert(const std::vector<unsigned char>& data, const std::string& m)
+ {
+ cv::Mat img = cv::imdecode(data, cv::IMREAD_ANYDEPTH);
+ return aron::converter::AronOpenCVConverter::ConvertFromMat(img);
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.h
new file mode 100644
index 000000000..ad4b1bfa2
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/exr/ExrConverter.h
@@ -0,0 +1,21 @@
+#pragma once
+
+// Base Class
+#include "../Converter.h"
+
+namespace armarx::armem::server::ltm::converter::image
+{
+ class ExrConverter : public ImageConverter
+ {
+ public:
+ ExrConverter() :
+ ImageConverter(ConverterType::Binary, "depthimage", ".exr")
+ {
+ enabled = true; // enabled by default
+ }
+
+ protected:
+ std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::NDArrayPtr& data) final;
+ aron::data::NDArrayPtr _convert(const std::vector<unsigned char>& data, const std::string&) final;
+ };
+}
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 24fc8be1f..e8536cf64 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
@@ -10,21 +10,52 @@
namespace armarx::armem::server::ltm::converter::image
{
- std::vector<unsigned char> PngConverter::_convert(const aron::data::NDArrayPtr& data)
+ std::pair<std::vector<unsigned char>, std::string> PngConverter::_convert(const aron::data::NDArrayPtr& data)
{
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;
+
+
+ auto shape = data->getShape(); // we know from the extraction that the shape has 3 elements
+ ARMARX_CHECK_EQUAL(shape.size(), 3);
+
+ if (shape[2] == 3) // its probably a rgb image
+ {
+ cv::cvtColor(img, img, CV_RGB2BGR);
+ cv::imencode(suffix, img, buffer);
+ return std::make_pair(buffer, ".rgb");
+ }
+
+ if (shape[2] == 1) // its probably a grayscale image
+ {
+ cv::imencode(suffix, img, buffer);
+ return std::make_pair(buffer, ".gs");
+ }
+
+ // try to export without conversion
+ cv::imencode(suffix, img, buffer);
+ return std::make_pair(buffer, "");
}
- aron::data::NDArrayPtr PngConverter::_convert(const std::vector<unsigned char>& data)
+ aron::data::NDArrayPtr PngConverter::_convert(const std::vector<unsigned char>& data, const std::string& m)
{
- cv::Mat img = cv::imdecode(data, cv::IMREAD_COLOR);
- cv::cvtColor(img, img, CV_BGR2RGB);
+ if (m == ".rgb")
+ {
+ cv::Mat img = cv::imdecode(data, cv::IMREAD_COLOR);
+ cv::cvtColor(img, img, CV_BGR2RGB);
+ return aron::converter::AronOpenCVConverter::ConvertFromMat(img);
+ }
+
+ if (m == ".gs")
+ {
+ cv::Mat img = cv::imdecode(data, cv::IMREAD_GRAYSCALE);
+ return aron::converter::AronOpenCVConverter::ConvertFromMat(img);
+ }
+
+ // try to load without conversion
+ cv::Mat img = cv::imdecode(data, cv::IMREAD_ANYCOLOR);
return aron::converter::AronOpenCVConverter::ConvertFromMat(img);
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h
index a2ba7f86c..5b6c80134 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/image/png/PngConverter.h
@@ -9,13 +9,13 @@ namespace armarx::armem::server::ltm::converter::image
{
public:
PngConverter() :
- ImageConverter(ConverterType::Binary, ".png")
+ ImageConverter(ConverterType::Binary, "image", ".png")
{
enabled = true; // enabled by default
}
protected:
- std::vector<unsigned char> _convert(const aron::data::NDArrayPtr& data) final;
- aron::data::NDArrayPtr _convert(const std::vector<unsigned char>& data) final;
+ std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::NDArrayPtr& data) final;
+ aron::data::NDArrayPtr _convert(const std::vector<unsigned char>& data, const std::string&) final;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.cpp
index 26b9ffac7..4f0808a6f 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.cpp
@@ -3,15 +3,15 @@
namespace armarx::armem::server::ltm
{
- std::vector<unsigned char> ObjectConverter::convert(const aron::data::VariantPtr& data)
+ std::pair<std::vector<unsigned char>, std::string> ObjectConverter::convert(const aron::data::VariantPtr& data)
{
auto d = aron::data::Dict::DynamicCastAndCheck(data);
return _convert(d);
}
- aron::data::VariantPtr ObjectConverter::convert(const std::vector<unsigned char>& data)
+ aron::data::VariantPtr ObjectConverter::convert(const std::vector<unsigned char>& data, const std::string& m)
{
- auto d = _convert(data);
+ auto d = _convert(data, m);
return d;
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
index 3ae9dcfa2..e5c8e9f80 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/Converter.h
@@ -14,17 +14,17 @@ namespace armarx::armem::server::ltm
class ObjectConverter : public Converter
{
public:
- ObjectConverter(const ConverterType t, const std::string& s):
- Converter(t, s, aron::type::Descriptor::eObject)
+ ObjectConverter(const ConverterType t, const std::string& id, const std::string& s):
+ Converter(t, id, s, aron::type::Descriptor::eObject)
{}
virtual ~ObjectConverter() = default;
- std::vector<unsigned char> convert(const aron::data::VariantPtr& data) final;
- aron::data::VariantPtr convert(const std::vector<unsigned char>& data) final;
+ std::pair<std::vector<unsigned char>, std::string> convert(const aron::data::VariantPtr& data) final;
+ aron::data::VariantPtr convert(const std::vector<unsigned char>& data, const std::string&) final;
protected:
- virtual std::vector<unsigned char> _convert(const aron::data::DictPtr& data) = 0;
- virtual aron::data::DictPtr _convert(const std::vector<unsigned char>& data) = 0;
+ virtual std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::DictPtr& data) = 0;
+ virtual aron::data::DictPtr _convert(const std::vector<unsigned char>& data, const std::string&) = 0;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.cpp
index d483958fa..8465201f3 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.cpp
@@ -10,9 +10,9 @@ namespace armarx::armem::server::ltm::converter::object
namespace bsoncxxbuilder = bsoncxx::builder::stream;
namespace bsoncxxdoc = bsoncxx::document;
- std::vector<unsigned char> BsonConverter::_convert(const aron::data::DictPtr& data)
+ std::pair<std::vector<unsigned char>, std::string> BsonConverter::_convert(const aron::data::DictPtr& data)
{
- std::vector<unsigned char> jsonVec = jsonConverter.convert(data);
+ auto [jsonVec, str] = jsonConverter.convert(data);
std::string json(jsonVec.begin(), jsonVec.end());
auto view = bsoncxx::from_json(json).view();
@@ -21,16 +21,16 @@ namespace armarx::armem::server::ltm::converter::object
{
std::memcpy(bson.data(), view.data(), view.length());
}
- return bson;
+ return std::make_pair(bson, str);
}
- aron::data::DictPtr BsonConverter::_convert(const std::vector<unsigned char>& data)
+ aron::data::DictPtr BsonConverter::_convert(const std::vector<unsigned char>& data, const std::string& m)
{
bsoncxx::document::view view(data.data(), data.size());
nlohmann::json json = bsoncxx::to_json(view);
std::string str = json.dump(2);
std::vector<unsigned char> jsonVec(str.begin(), str.end());
- auto v = jsonConverter.convert(jsonVec);
+ auto v = jsonConverter.convert(jsonVec, m);
return aron::data::Dict::DynamicCast(v);
}
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.h
index 2dbb293ab..6eb183be2 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/bson/BsonConverter.h
@@ -15,12 +15,12 @@ namespace armarx::armem::server::ltm::converter::object
{
public:
BsonConverter() :
- ObjectConverter(ConverterType::Binary, ".bson")
+ ObjectConverter(ConverterType::Binary, "dict", ".bson")
{}
protected:
- std::vector<unsigned char> _convert(const aron::data::DictPtr& data) final;
- aron::data::DictPtr _convert(const std::vector<unsigned char>& data) final;
+ std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::DictPtr& data) final;
+ aron::data::DictPtr _convert(const std::vector<unsigned char>& data, const std::string&) final;
private:
JsonConverter jsonConverter;
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.cpp
index 55fe9fddb..f2baa4865 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.cpp
@@ -4,14 +4,14 @@
namespace armarx::armem::server::ltm::converter::object
{
- std::vector<unsigned char> JsonConverter::_convert(const aron::data::DictPtr& data)
+ std::pair<std::vector<unsigned char>, std::string> JsonConverter::_convert(const aron::data::DictPtr& data)
{
nlohmann::json j = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(data);
auto str = j.dump(2);
- return std::vector<unsigned char>(str.begin(), str.end());
+ return std::make_pair(std::vector<unsigned char>(str.begin(), str.end()), "");
}
- aron::data::DictPtr JsonConverter::_convert(const std::vector<unsigned char>& data)
+ aron::data::DictPtr JsonConverter::_convert(const std::vector<unsigned char>& data, const std::string&)
{
std::string str(data.begin(), data.end());
nlohmann::json j = nlohmann::json::parse(str);
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.h b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.h
index 98be34661..1b9f86ee9 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/converter/object/json/JsonConverter.h
@@ -12,13 +12,13 @@ namespace armarx::armem::server::ltm::converter::object
{
public:
JsonConverter() :
- ObjectConverter(ConverterType::Str, ".json")
+ ObjectConverter(ConverterType::Str, "dict", ".json")
{
enabled = true; // always true!
}
protected:
- std::vector<unsigned char> _convert(const aron::data::DictPtr& data) final;
- aron::data::DictPtr _convert(const std::vector<unsigned char>& data) final;
+ std::pair<std::vector<unsigned char>, std::string> _convert(const aron::data::DictPtr& data) final;
+ aron::data::DictPtr _convert(const std::vector<unsigned char>& data, const std::string&) final;
};
}
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 ce25bee41..386ce278b 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryBase.h
@@ -9,7 +9,6 @@
#include "CoreSegmentBase.h"
// ArmarX
-#include <ArmarXCore/core/application/properties/Properties.h>
#include <ArmarXCore/core/time/TimeUtil.h>
#include <ArmarXCore/core/logging/LoggingUtil.h>
@@ -112,19 +111,7 @@ namespace armarx::armem::server::ltm
/// parameters
virtual void createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix)
{
- // filters
- defs->optional(processors->memFreqFilter.enabled, prefix + "memFreqFilter.Enabled");
- defs->optional(processors->memFreqFilter.waitingTimeInMs, prefix + "memFreqFilter.WaitingTime", "Waiting time in MS after each LTM update.");
- defs->optional(processors->snapFreqFilter.enabled, prefix + "snapFreqFilter.Enabled");
- defs->optional(processors->snapFreqFilter.waitingTimeInMs, prefix + "snapFreqFilter.WaitingTime", "Waiting time in MS after each Entity update.");
- defs->optional(processors->snapEqFilter.enabled, prefix + "snapEqFilter.Enabled");
- defs->optional(processors->snapEqFilter.maxWaitingTimeInMs, prefix + "snapEqFilter.MaxWaitingTime", "Max Waiting time in MS after each Entity update.");
-
- // extractors
- defs->optional(processors->imageExtractor.enabled, prefix + "imageExtractor.Enabled");
-
- // converters
- defs->optional(processors->pngConverter.enabled, prefix + "pngConverter.Enabled");
+ processors->createPropertyDefinitions(defs, prefix);
}
/// get level name
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.h
index 27b91fdb9..570231509 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/MemoryItem.h
@@ -5,49 +5,10 @@
#include <optional>
#include <string>
-#include "../filter/frequencyFilter/FrequencyFilter.h"
-#include "../filter/equalityFilter/EqualityFilter.h"
-#include "../extractor/imageExtractor/ImageExtractor.h"
-#include "../converter/object/json/JsonConverter.h"
-#include "../converter/image/png/PngConverter.h"
-
-#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include "Processors.h"
namespace armarx::armem::server::ltm
{
- /// all necessary classes to filter and convert an entry of the ltm to some other format(s)
- struct Processors
- {
- // Unique Memory Filters
- std::vector<MemoryFilter*> memFilters;
- filter::MemoryFrequencyFilter memFreqFilter;
-
- // Unique Snapshot filters
- std::vector<SnapshotFilter*> snapFilters;
- filter::SnapshotFrequencyFilter snapFreqFilter;
- filter::SnapshotEqualityFilter snapEqFilter;
-
- // Extractors
- std::vector<Extractor*> extractors;
- extractor::ImageExtractor imageExtractor;
-
- // Converters
- std::map<aron::type::Descriptor, Converter*> converters;
- converter::object::JsonConverter jsonConverter;
- converter::image::PngConverter pngConverter;
-
- Processors()
- {
- // setup containers
- memFilters.push_back(&memFreqFilter);
- snapFilters.push_back(&snapFreqFilter);
- snapFilters.push_back(&snapEqFilter);
- extractors.push_back(&imageExtractor);
- converters.insert({jsonConverter.convertsType, &jsonConverter});
- converters.insert({pngConverter.convertsType, &pngConverter});
- }
- };
-
/// @brief Interface functions for the longterm memory classes
class MemoryItem
{
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp
new file mode 100644
index 000000000..6e176bf79
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.cpp
@@ -0,0 +1,35 @@
+#include "Processors.h"
+
+namespace armarx::armem::server::ltm
+{
+ Processors::Processors()
+ {
+ // setup containers
+ memFilters.push_back(&memFreqFilter);
+ snapFilters.push_back(&snapFreqFilter);
+ snapFilters.push_back(&snapEqFilter);
+ extractors.push_back(&imageExtractor);
+ extractors.push_back(&depthImageExtractor);
+ converters.insert({pngConverter.identifier, &pngConverter});
+ converters.insert({exrConverter.identifier, &exrConverter});
+ }
+
+ void Processors::createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix)
+ {
+ // filters
+ defs->optional(memFreqFilter.enabled, prefix + "memFreqFilter.Enabled");
+ defs->optional(memFreqFilter.waitingTimeInMs, prefix + "memFreqFilter.WaitingTime", "Waiting time in MS after each LTM update.");
+ defs->optional(snapFreqFilter.enabled, prefix + "snapFreqFilter.Enabled");
+ defs->optional(snapFreqFilter.waitingTimeInMs, prefix + "snapFreqFilter.WaitingTime", "Waiting time in MS after each Entity update.");
+ defs->optional(snapEqFilter.enabled, prefix + "snapEqFilter.Enabled");
+ defs->optional(snapEqFilter.maxWaitingTimeInMs, prefix + "snapEqFilter.MaxWaitingTime", "Max Waiting time in MS after each Entity update.");
+
+ // extractors
+ defs->optional(imageExtractor.enabled, prefix + "imageExtractor.Enabled");
+ defs->optional(depthImageExtractor.enabled, prefix + "depthImageExtractor.Enabled");
+
+ // converters
+ defs->optional(pngConverter.enabled, prefix + "pngConverter.Enabled");
+ defs->optional(exrConverter.enabled, prefix + "exrConverter.Enabled");
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h
new file mode 100644
index 000000000..232e6f32b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/detail/Processors.h
@@ -0,0 +1,52 @@
+#pragma once
+
+#include <map>
+#include <mutex>
+#include <optional>
+#include <string>
+
+#include <ArmarXCore/core/application/properties/Properties.h>
+
+#include "../filter/frequencyFilter/FrequencyFilter.h"
+#include "../filter/equalityFilter/EqualityFilter.h"
+#include "../extractor/imageExtractor/ImageExtractor.h"
+#include "../extractor/imageExtractor/DepthImageExtractor.h"
+#include "../converter/object/json/JsonConverter.h"
+#include "../converter/image/png/PngConverter.h"
+#include "../converter/image/exr/ExrConverter.h"
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+
+namespace armarx::armem::server::ltm
+{
+ /// all necessary classes to filter and convert an entry of the ltm to some other format(s)
+ class Processors
+ {
+ public:
+ Processors();
+ void createPropertyDefinitions(PropertyDefinitionsPtr& defs, const std::string& prefix);
+
+ public:
+ // Unique Memory Filters
+ std::vector<MemoryFilter*> memFilters;
+ filter::MemoryFrequencyFilter memFreqFilter;
+
+ // Unique Snapshot filters
+ std::vector<SnapshotFilter*> snapFilters;
+ filter::SnapshotFrequencyFilter snapFreqFilter;
+ filter::SnapshotEqualityFilter snapEqFilter;
+
+ // Special Extractors
+ std::vector<Extractor*> extractors;
+ extractor::ImageExtractor imageExtractor;
+ extractor::DepthImageExtractor depthImageExtractor;
+
+ // Special Converters
+ std::map<std::string, Converter*> converters;
+ converter::image::PngConverter pngConverter;
+ converter::image::ExrConverter exrConverter;
+
+ // Default converter
+ converter::object::JsonConverter defaultObjectConverter;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.h b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.h
index 8fbedc484..0fd5ca5ad 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/Extractor.h
@@ -18,13 +18,14 @@ namespace armarx::armem::server::ltm
std::map<std::string, aron::data::VariantPtr> extraction;
};
- Extractor(const aron::type::Descriptor t) : extractsType(t) {};
+ Extractor(const aron::type::Descriptor t, const std::string& id) : extractsType(t), identifier(id) {};
virtual ~Extractor() = default;
virtual Extraction extract(aron::data::DictPtr& data) = 0;
virtual aron::data::DictPtr merge(Extraction& encoding) = 0;
const aron::type::Descriptor extractsType;
+ const std::string identifier;
bool enabled = false;
};
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp
new file mode 100644
index 000000000..4640cca47
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.cpp
@@ -0,0 +1,48 @@
+#include "DepthImageExtractor.h"
+
+
+namespace armarx::armem::server::ltm::extractor
+{
+ void DepthImageExtractorVisitor::visitDictOnEnter(Input& data)
+ {
+ ARMARX_CHECK_NOT_NULL(data);
+
+ auto dict = aron::data::Dict::DynamicCastAndCheck(data);
+ for (const auto& [key, child] : dict->getElements())
+ {
+ if (child && child->getDescriptor() == aron::data::Descriptor::eNDArray)
+ {
+ auto ndarray = aron::data::NDArray::DynamicCastAndCheck(child);
+ auto shape = ndarray->getShape();
+ if (shape.size() == 3 && shape[2] == 4 && std::accumulate(std::begin(shape), std::end(shape), 1, std::multiplies<int>()) > 200) // must be big enough to assume an image (instead of 4x4x4 poses)
+ {
+ depthImages[key] = ndarray;
+ dict->setElement(key, nullptr);
+ }
+ }
+ }
+ }
+
+ void DepthImageExtractorVisitor::visitUnknown(Input&)
+ {
+ // A member is null. Simply ignore...
+ }
+
+ Extractor::Extraction DepthImageExtractor::extract(aron::data::DictPtr& data)
+ {
+ DepthImageExtractorVisitor visitor;
+ aron::data::VariantPtr var = std::static_pointer_cast<aron::data::Variant>(data);
+ aron::data::VariantPtr p;
+ aron::data::visitRecursive(visitor, var);
+
+ Extraction encoding;
+ encoding.dataWithoutExtraction = data;
+ encoding.extraction = visitor.depthImages;
+ return encoding;
+ }
+
+ aron::data::DictPtr DepthImageExtractor::merge(Extraction& encoding)
+ {
+ return encoding.dataWithoutExtraction;
+ }
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h
new file mode 100644
index 000000000..09b305e3c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/DepthImageExtractor.h
@@ -0,0 +1,31 @@
+#pragma once
+
+// Base Class
+#include "../Extractor.h"
+
+#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+
+namespace armarx::armem::server::ltm::extractor
+{
+ class DepthImageExtractorVisitor : public aron::data::RecursiveVariantVisitor
+ {
+ public:
+ std::map<std::string, aron::data::VariantPtr> depthImages;
+
+ void visitDictOnEnter(Input& data);
+ void visitUnknown(Input& data);
+ };
+
+ class DepthImageExtractor : public Extractor
+ {
+ public:
+ DepthImageExtractor() :
+ Extractor(aron::type::Descriptor::eImage, "depthimage")
+ {
+ enabled = true;
+ };
+
+ virtual Extraction extract(aron::data::DictPtr& data) override;
+ virtual aron::data::DictPtr merge(Extraction& encoding) override;
+ };
+}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
index ff86e0624..c646a4f47 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.cpp
@@ -14,7 +14,7 @@ namespace armarx::armem::server::ltm::extractor
{
auto ndarray = aron::data::NDArray::DynamicCastAndCheck(child);
auto shape = ndarray->getShape();
- if (shape.size() == 3 && std::accumulate(std::begin(shape), std::end(shape), 1, std::multiplies<int>()) > 200) // must be big enough to assume an image (instead of 4x4x4 poses)
+ if (shape.size() == 3 && (shape[2] == 3 || shape[2] == 1 /* 3 channel color or grayscale */) && std::accumulate(std::begin(shape), std::end(shape), 1, std::multiplies<int>()) > 200) // must be big enough to assume an image (instead of 4x4x4 poses)
{
images[key] = ndarray;
dict->setElement(key, nullptr);
diff --git a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
index 73a923579..be9c80ba7 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/base/extractor/imageExtractor/ImageExtractor.h
@@ -20,7 +20,7 @@ namespace armarx::armem::server::ltm::extractor
{
public:
ImageExtractor() :
- Extractor(aron::type::Descriptor::eImage)
+ Extractor(aron::type::Descriptor::eImage, "image")
{
enabled = true;
};
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
index 14e8f31fa..ef68e7f01 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/CoreSegment.cpp
@@ -91,6 +91,9 @@ namespace armarx::armem::server::ltm::disk
void CoreSegment::_store(const armem::wm::CoreSegment& c)
{
+ auto currentMaxExport = currentExport;
+ auto encodingModeOfPast = currentMode;
+
if (id().coreSegmentName.empty())
{
ARMARX_WARNING << "During storage of segment '" << c.id().str() << "' I noticed that the corresponding LTM has no id set. " <<
@@ -110,7 +113,7 @@ namespace armarx::armem::server::ltm::disk
c.forEachProviderSegment([&](const auto& prov)
{
- ProviderSegment c(memoryParentPath, id().withProviderSegmentName(prov.id().providerSegmentName), processors, currentMode, currentExport);
+ ProviderSegment c(memoryParentPath, id().withProviderSegmentName(prov.id().providerSegmentName), processors, encodingModeOfPast, currentMaxExport);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode), true);
c.store(prov);
});
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
index a46aee88a..ac1703ac9 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Entity.cpp
@@ -29,17 +29,47 @@ namespace armarx::armem::server::ltm::disk
return false;
}
- for (const auto& subdirName : util::getAllDirectories(mPath, relPath))
+ for (const auto& hName : util::getAllDirectories(mPath, relPath))
{
- if (!util::isNumber(subdirName))
+ if (!util::isNumber(hName))
{
- ARMARX_WARNING << "Found a non-timestamp folder inside an entity '" << id().str() << "' with name '" << subdirName << "'. " <<
+ ARMARX_WARNING << "Found a non-timestamp folder inside an entity '" << id().str() << "' with name '" << hName << "'. " <<
"Ignoring this folder, however this is a bad situation.";
continue;
}
- EntitySnapshot c(memoryParentPath, id().withTimestamp(timeFromStringMicroSeconds(subdirName)), processors, currentMode, currentExport);
- func(c);
+ // check if this is already a microsec folder (legacy export support)
+ //if (std::stol(secName) > 1647524607 /* the time in us the new export was implemented */)
+ //{
+ // EntitySnapshot c(memoryParentPath, id().withTimestamp(timeFromStringMicroSeconds(secName)), processors, currentMode, currentExport);
+ // func(c);
+ // continue;
+ //}
+
+ auto hRelPath = relPath / hName;
+ for (const auto& secName : util::getAllDirectories(mPath, hRelPath))
+ {
+ if (!util::isNumber(secName))
+ {
+ ARMARX_WARNING << "Found a non-timestamp folder inside an entity '" << id().str() << "' with name '" << secName << "'. " <<
+ "Ignoring this folder, however this is a bad situation.";
+ continue;
+ }
+
+ auto secRelPath = hRelPath / secName;
+ for (const auto& usecName : util::getAllDirectories(mPath, secRelPath))
+ {
+ if (!util::isNumber(usecName))
+ {
+ ARMARX_WARNING << "Found a non-timestamp folder inside an entity '" << id().str() << "' with name '" << usecName << "'. " <<
+ "Ignoring this folder, however this is a bad situation.";
+ continue;
+ }
+
+ EntitySnapshot c(memoryParentPath, id().withTimestamp(timeFromStringMicroSeconds(usecName)), processors, currentMode, currentExport);
+ func(c);
+ }
+ }
}
return true;
}
@@ -272,9 +302,12 @@ namespace armarx::armem::server::ltm::disk
c.forEachSnapshot([&](const auto& snap)
{
- for (unsigned long i = 0; i < currentExport; ++i)
+ auto currentMaxExport = currentExport;
+ auto encodingModeOfPast = currentMode;
+
+ for (unsigned long i = 0; i < currentMaxExport; ++i)
{
- MemoryEncodingMode mode = i == 0 ? defaultMode : currentMode;
+ MemoryEncodingMode mode = i == 0 ? defaultMode : encodingModeOfPast;
auto mPath = getMemoryBasePathForMode(mode, i);
EntitySnapshot c(memoryParentPath, id().withTimestamp(snap.id().timestamp), processors, mode, i);
@@ -294,7 +327,7 @@ namespace armarx::armem::server::ltm::disk
}
}
- EntitySnapshot c(memoryParentPath, id().withTimestamp(snap.id().timestamp), processors, currentMode, currentExport);
+ EntitySnapshot c(memoryParentPath, id().withTimestamp(snap.id().timestamp), processors, encodingModeOfPast, currentMaxExport);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode));
c.store(snap);
});
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
index 870292195..a4aece1fd 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
@@ -14,7 +14,7 @@ namespace armarx::armem::server::ltm::disk
{
EntitySnapshot::EntitySnapshot(const std::filesystem::path& p, const MemoryID& id, const std::shared_ptr<Processors>& filters, const DiskMemoryItem::MemoryEncodingMode mode, const unsigned long e) :
EntitySnapshotBase(id, filters),
- DiskMemoryItem(p, EscapeSegmentName(id.memoryName), std::filesystem::path(EscapeSegmentName(id.coreSegmentName)) / EscapeSegmentName(id.providerSegmentName) / EscapeSegmentName(id.entityName) / id.timestampStr()),
+ DiskMemoryItem(p, EscapeSegmentName(id.memoryName), std::filesystem::path(EscapeSegmentName(id.coreSegmentName)) / EscapeSegmentName(id.providerSegmentName) / EscapeSegmentName(id.entityName) / std::to_string(id.timestamp.toSeconds() / 3600 /* hours */) / std::to_string(id.timestamp.toSeconds()) / id.timestampStr()),
currentMode(mode),
currentExport(e)
{
@@ -53,7 +53,7 @@ namespace armarx::armem::server::ltm::disk
return;
}
- auto& dictConverter = processors->converters.at(aron::type::Descriptor::eObject);
+ auto& dictConverter = processors->defaultObjectConverter;
// Get data from disk
for (unsigned int i = 0; i < e.size(); ++i)
@@ -61,17 +61,22 @@ namespace armarx::armem::server::ltm::disk
std::filesystem::path relIPath = relPath / std::to_string(i) / "";
if (util::checkIfFolderExists(mPath, relIPath))
{
- std::filesystem::path relDataPath = relIPath / (constantes::DATA_FILENAME + dictConverter->suffix);
- std::filesystem::path relMetadataPath = relIPath / (constantes::METADATA_FILENAME + dictConverter->suffix);
+ std::string dataFilename = (constantes::DATA_FILENAME + dictConverter.suffix);
+ std::string metadataFilename = (constantes::METADATA_FILENAME + dictConverter.suffix);
+ std::filesystem::path relDataPath = relIPath / dataFilename;
+ std::filesystem::path relMetadataPath = relIPath / metadataFilename;
auto& ins = e.getInstance(i);
aron::data::DictPtr datadict = nullptr;
aron::data::DictPtr metadatadict = nullptr;
- if (util::checkIfFileExists(mPath, relDataPath))
+ // get list of all files. This ensures that we only have to call fs::exists once for each file
+ auto allFilesInIndexFolder = util::getAllFiles(mPath, relIPath);
+
+ if (std::find(allFilesInIndexFolder.begin(), allFilesInIndexFolder.end(), dataFilename) != allFilesInIndexFolder.end())
{
auto datafilecontent = util::readDataFromFile(mPath, relDataPath);
- auto dataaron = dictConverter->convert(datafilecontent);
+ auto dataaron = dictConverter.convert(datafilecontent, "");
datadict = aron::data::Dict::DynamicCastAndCheck(dataaron);
// check for special members
@@ -79,18 +84,18 @@ namespace armarx::armem::server::ltm::disk
{
for (auto& [t, f] : processors->converters)
{
- if (t == aron::type::Descriptor::eObject)
- {
- continue;
- }
-
- std::filesystem::path relMemberPath = relIPath / (key + f->suffix);
-
- if (util::checkIfFileExists(mPath, relMemberPath))
+ for (const auto& filename : allFilesInIndexFolder) // iterate over all files and search for matching ones
{
- auto memberfilecontent = util::readDataFromFile(mPath, relMemberPath);
- auto memberaron = f->convert(memberfilecontent);
- datadict->setElement(key, memberaron);
+ if (simox::alg::starts_with(filename, key) and simox::alg::ends_with(filename, f->suffix))
+ {
+ std::filesystem::path relMemberPath = relIPath / filename;
+ std::string mode = simox::alg::remove_suffix(simox::alg::remove_prefix(filename, key), f->suffix);
+
+ auto memberfilecontent = util::readDataFromFile(mPath, relMemberPath);
+ auto memberaron = f->convert(memberfilecontent, mode);
+ datadict->setElement(key, memberaron);
+ break;
+ }
}
}
}
@@ -100,10 +105,10 @@ namespace armarx::armem::server::ltm::disk
ARMARX_ERROR << "Could not find the data file '" << relDataPath.string() << "'. Continuing without data.";
}
- if (util::checkIfFileExists(mPath, relMetadataPath))
+ if (std::find(allFilesInIndexFolder.begin(), allFilesInIndexFolder.end(), metadataFilename) != allFilesInIndexFolder.end())
{
auto metadatafilecontent = util::readDataFromFile(mPath, relMetadataPath);
- auto metadataaron = dictConverter->convert(metadatafilecontent);
+ auto metadataaron = dictConverter.convert(metadatafilecontent, "");
metadatadict = aron::data::Dict::DynamicCastAndCheck(metadataaron);
}
else
@@ -122,6 +127,9 @@ namespace armarx::armem::server::ltm::disk
void EntitySnapshot::_store(const armem::wm::EntitySnapshot& e) const
{
+ //auto currentMaxExport = currentExport;
+ //auto encodingModeOfPast = currentMode;
+
if (id().timestampStr().empty())
{
ARMARX_WARNING << "During storage of segment '" << e.id().str() << "' I noticed that the corresponding LTM has no id set. " <<
@@ -131,7 +139,7 @@ namespace armarx::armem::server::ltm::disk
auto defaultMode = MemoryEncodingMode::FILESYSTEM;
- auto& dictConverter = processors->converters.at(aron::type::Descriptor::eObject);
+ auto& dictConverter = processors->defaultObjectConverter;
auto defaultMPath = getMemoryBasePathForMode(defaultMode, 0);
auto defaultRelPath = getRelativePathForMode(defaultMode);
@@ -152,8 +160,8 @@ namespace armarx::armem::server::ltm::disk
{
util::ensureFolderExists(defaultMPath, defaultRelIPath);
- std::filesystem::path relDataPath = defaultRelIPath / (constantes::DATA_FILENAME + dictConverter->suffix);
- std::filesystem::path relMetadataPath = defaultRelIPath / (constantes::METADATA_FILENAME + dictConverter->suffix);
+ std::filesystem::path relDataPath = defaultRelIPath / (constantes::DATA_FILENAME + dictConverter.suffix);
+ std::filesystem::path relMetadataPath = defaultRelIPath / (constantes::METADATA_FILENAME + dictConverter.suffix);
auto& ins = e.getInstance(i);
@@ -167,7 +175,7 @@ namespace armarx::armem::server::ltm::disk
{
if (!x->enabled) continue;
- auto t = x->extractsType;
+ const auto& t = x->identifier;
Converter* conv = nullptr; // find suitable converter
for (const auto& [ct, c] : processors->converters)
@@ -184,9 +192,11 @@ namespace armarx::armem::server::ltm::disk
for (const auto& [memberName, var] : dataExt.extraction)
{
ARMARX_CHECK_NOT_NULL(var);
- std::filesystem::path relMemberPath = defaultRelIPath / (memberName + conv->suffix);
- auto memberDataVec = conv->convert(var);
- util::writeDataToFile(defaultMPath, relMemberPath, memberDataVec);
+
+ auto [memberDataVec, memberDataModeSuffix] = conv->convert(var);
+ std::filesystem::path relMemberPath = defaultRelIPath / (memberName + memberDataModeSuffix + conv->suffix);
+
+ util::writeDataToFileRepeated(defaultMPath, relMemberPath, memberDataVec);
}
dataAron = dataExt.dataWithoutExtraction;
@@ -195,10 +205,13 @@ namespace armarx::armem::server::ltm::disk
}
// convert dict and metadata
- auto dataVec = dictConverter->convert(dataAron);
- auto metadataVec = dictConverter->convert(metadataAron);
- util::writeDataToFile(defaultMPath, relDataPath, dataVec);
- util::writeDataToFile(defaultMPath, relMetadataPath, metadataVec);
+ auto [dataVec, dataVecModeSuffix] = dictConverter.convert(dataAron);
+ auto [metadataVec, metadataVecModeSuffix] = dictConverter.convert(metadataAron);
+ ARMARX_CHECK_EMPTY(dataVecModeSuffix);
+ ARMARX_CHECK_EMPTY(metadataVecModeSuffix);
+
+ util::writeDataToFileRepeated(defaultMPath, relDataPath, dataVec);
+ util::writeDataToFileRepeated(defaultMPath, relMetadataPath, metadataVec);
}
// Ignore if the full index already exists. Actually this should not happen since the existence of the ts folder is checked on entity level
}
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
index c90cb8e33..50cde9d18 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.cpp
@@ -11,7 +11,7 @@ namespace armarx::armem::server::ltm::disk
{
Base::createPropertyDefinitions(properties, prefix);
properties->optional(memoryParentPath, prefix + "storagepath", "The path to the memory storage (the memory will be stored in a seperate subfolder).");
- properties->optional(sizeToCompressDataInBytes, prefix + "sizeToCompressDataInBytes", "The size in bytes to compress away the current export. Exports are numbered (lower number means newer).");
+ properties->optional(sizeToCompressDataInMegaBytes, prefix + "sizeToCompressDataInMegaBytes", "The size in MB to compress away the current export. Exports are numbered (lower number means newer).");
}
Memory::Memory() :
@@ -129,7 +129,7 @@ namespace armarx::armem::server::ltm::disk
std::lock_guard l(ltm_mutex); // we cannot store a memory multiple times simultaneously
MemoryEncodingMode defaultMode = MemoryEncodingMode::FILESYSTEM;
- MemoryEncodingMode defaultEncodeMode = exportEncodingMode;
+ MemoryEncodingMode encodeModeOfPast = exportEncodingMode;
// Storage will always be in filesystem mode!
// Somehow, minizip was not able to write data to images. It always created a folder named xyz.png without any data in it...
// Another problem is that storing data directly in compressed format will require a lot of time when the compressed file is big (>20MB)
@@ -143,31 +143,37 @@ namespace armarx::armem::server::ltm::disk
auto defaultMPath = getMemoryBasePathForMode(defaultMode, 0);
- // Check if we have to move the memory!
+ // Check if we have to compress the memory!
// See above mentioned issues with directly compressing the data. Therefore we store data in plain text and compress from time to time
- // using system calls. Also increase all old exports
+ // using system calls. Also increase the index of all old exports
auto size = filesystem::util::getSizeOfDirectory(defaultMPath);
//std::cout << "Current maxExportIndex is: " << maxExportIndex << std::endl;
- if (size >= sizeToCompressDataInBytes)
+ if (size >= (sizeToCompressDataInMegaBytes * 1024 * 1024))
{
- // increase old memories
+ ARMARX_INFO << "Compressen of memory " + id().memoryName + " needed because the size of last export is " + std::to_string(size / 1024.f / 1024.f) + " (>= " + std::to_string(sizeToCompressDataInMegaBytes) + ")";
+
+ // increase index of old memories
for (unsigned long i = maxExportIndex; i >= 1; --i)
{
- auto exportPath = getMemoryBasePathForMode(defaultEncodeMode, i);
- auto newExportPath = getMemoryBasePathForMode(defaultEncodeMode, i+1);
+ ARMARX_INFO << "Increasing the index of old compressed memory " + id().memoryName + " (" + std::to_string(i) + " to " + std::to_string(i+1) + ")";
+ auto exportPath = getMemoryBasePathForMode(encodeModeOfPast, i);
+ auto newExportPath = getMemoryBasePathForMode(encodeModeOfPast, i+1);
std::string moveCommand = "mv " + exportPath.string() + " " + newExportPath.string();
//std::cout << "Exec command: " << moveCommand << std::endl;
int ret = system(moveCommand.c_str());
(void) ret;
}
- // zip current export
- auto newExportPath = getMemoryBasePathForMode(defaultEncodeMode, 1); // 1 will be the new export
+ // zip away current export
+ ARMARX_INFO << "Compressing the last export of " + id().memoryName;
+ auto newExportPath = getMemoryBasePathForMode(encodeModeOfPast, 1); // 1 will be the new export
std::string zipCommand = "cd " + memoryParentPath.string() + " && zip -r " + newExportPath.string() + " " + escapedMemoryName;
//std::cout << "Exec command: " << zipCommand << std::endl;
int ret = system(zipCommand.c_str());
(void) ret;
+ // remove unzipped memory export
+ ARMARX_INFO << "Removing the last export of " + id().memoryName;
std::string rmCommand = "rm -r " + defaultMPath.string();
ret = system(rmCommand.c_str());
(void) ret;
@@ -179,7 +185,7 @@ namespace armarx::armem::server::ltm::disk
memory.forEachCoreSegment([&](const auto& core)
{
- CoreSegment c(memoryParentPath, id().withCoreSegmentName(core.id().coreSegmentName), processors, defaultEncodeMode, maxExportIndex);
+ CoreSegment c(memoryParentPath, id().withCoreSegmentName(core.id().coreSegmentName), processors, encodeModeOfPast, 0 /* how far to look back in past on enity level. For full lookup use maxExportIndex. */);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode), true); // create subfolder
c.store(core);
});
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
index e0b8a6551..085a56459 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/Memory.h
@@ -38,6 +38,9 @@ namespace armarx::armem::server::ltm::disk
private:
MemoryEncodingMode exportEncodingMode = MemoryEncodingMode::MINIZIP;
unsigned long maxExportIndex = 0;
- unsigned long sizeToCompressDataInBytes = long(5) * 1024 * 1024 * 1024; // 5GB
+ unsigned long sizeToCompressDataInMegaBytes = long(1) * 1024; // 1GB
+
+ public:
+ static const int DEPTH_TO_DATA_FILES = 7; // from memory folder = 1 (cseg) + 1 (pseg) + 1 (ent) + 3 (snap) + 1 (inst)
};
} // namespace armarx::armem::server::ltm::disk
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
index a056f85ce..067ff6bdd 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/ProviderSegment.cpp
@@ -93,6 +93,9 @@ namespace armarx::armem::server::ltm::disk
void ProviderSegment::_store(const armem::wm::ProviderSegment& p)
{
+ auto currentMaxExport = currentExport;
+ auto encodingModeOfPast = currentMode;
+
if (id().providerSegmentName.empty())
{
ARMARX_WARNING << "During storage of segment '" << p.id().str() << "' I noticed that the corresponding LTM has no id set. " <<
@@ -112,7 +115,7 @@ namespace armarx::armem::server::ltm::disk
p.forEachEntity([&](const auto& e)
{
- Entity c(memoryParentPath, id().withEntityName(e.id().entityName), processors, currentMode, currentExport);
+ Entity c(memoryParentPath, id().withEntityName(e.id().entityName), processors, encodingModeOfPast, currentMaxExport);
util::ensureFolderExists(defaultMPath, c.getRelativePathForMode(defaultMode), true);
c.store(e);
});
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/util.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/util.cpp
index 701245811..8828dc595 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/util.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/util.cpp
@@ -1,5 +1,8 @@
#include "util.h"
+#include <thread>
+#include <chrono>
+
namespace armarx::armem::server::ltm::disk
{
namespace util
@@ -87,6 +90,26 @@ namespace armarx::armem::server::ltm::disk
return filesystem::util::writeDataInFilesystemFile(mPath / p, data);
}
+ void writeDataToFileRepeated(const std::filesystem::path& mPath, const std::filesystem::path& p, const std::vector<unsigned char>& data, const unsigned int maxTries, const unsigned int sleepTimeMs)
+ {
+ for (unsigned int i = 0; i < maxTries; ++i)
+ {
+ try
+ {
+ writeDataToFile(mPath, p, data);
+ return;
+ }
+ catch (const error::ArMemError&)
+ {
+ // wait a bit to give the filesystem enough time to manage the workload
+ std::this_thread::sleep_for(std::chrono::milliseconds(sleepTimeMs));
+ }
+ }
+
+ // even after all the tries we did not succeeded. This is very bad!
+ throw error::ArMemError("ATTENTION! Even after " + std::to_string(maxTries) + " tries, the memory was not able to store the instance at path '" + p.string() + "'. This means this instance will be lost!");
+ }
+
std::vector<unsigned char> readDataFromFile(const std::filesystem::path& mPath, const std::filesystem::path& p)
{
if (mPath.extension() == minizip::util::MINIZIP_SUFFIX)
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/util.h b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/util.h
index 58dc28123..e260d7092 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/util.h
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/detail/util/util.h
@@ -33,6 +33,8 @@ namespace armarx::armem::server::ltm::disk
void writeDataToFile(const std::filesystem::path& mPath, const std::filesystem::path& p, const std::vector<unsigned char>& data);
+ void writeDataToFileRepeated(const std::filesystem::path& mPath, const std::filesystem::path& p, const std::vector<unsigned char>& data, const unsigned int maxTries = 100, const unsigned int sleepTimeMs = 10);
+
std::vector<unsigned char> readDataFromFile(const std::filesystem::path& mPath, const std::filesystem::path& p);
std::vector<std::string> getAllDirectories(const std::filesystem::path& mPath, const std::filesystem::path& p);
diff --git a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
index ff966676a..d8755bbfd 100644
--- a/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/disk/ControlWidget.cpp
@@ -144,9 +144,9 @@ namespace armarx::armem::gui::disk
bool isSingleMemory = false;
for (auto i = std::filesystem::recursive_directory_iterator(path); i != std::filesystem::recursive_directory_iterator(); ++i)
{
- if (i.depth() > 7)
+ if (i.depth() > armem::server::ltm::disk::Memory::DEPTH_TO_DATA_FILES + 2)
{
- // After depth 7 we stop searching to not freeze GUI too long
+ // After some depth we stop searching to not freeze GUI too long
setStatus("Could not import a memory from " + path.string() + ". Data files were not found until max-depth 7. Skipping import.");
return memoryData;
}
@@ -156,7 +156,7 @@ namespace armarx::armem::gui::disk
// if one matches it is enough to check
if (std::filesystem::is_regular_file(dir.path()) && simox::alg::starts_with(dir.path().filename(), "data.aron"))
{
- isSingleMemory = (i.depth() == 5);
+ isSingleMemory = (i.depth() == armem::server::ltm::disk::Memory::DEPTH_TO_DATA_FILES);
break;
}
}
@@ -168,7 +168,7 @@ namespace armarx::armem::gui::disk
// const query::data::Input queryIce = queryInput.toIce();
int numLoaded = 0;
- auto loadMemory = [&](const std::filesystem::path& p){
+ auto loadMemory = [&](const std::filesystem::path& p) {
if (std::filesystem::is_directory(p))
{
armem::server::ltm::disk::Memory ltm(p.parent_path(), p.filename());
@@ -185,7 +185,7 @@ namespace armarx::armem::gui::disk
}
else
{
- // we load multiple memories
+ // we have to load multiple memories (each subfolder)
for (const auto& dir : std::filesystem::directory_iterator(path))
{
loadMemory(dir.path());
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index 708ba8739..61918cb20 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -696,7 +696,10 @@ namespace armarx::armem::gui::instance
try
{
// TODO We cannot know what the str in the pixeltype belongs to (e.g. coming from java, python, c++ it may contain different values!
- //pixelType = aron::type::Image::pixelTypeFromName(imageData->getType());
+ // pixelType = aron::type::Image::pixelTypeFromName(imageData->getType());
+
+ // For now we assume it comes from c++ where '5' means CV_32FC1 (=5)
+ pixelType = (imageData->getType() == "5" ? PixelType::depth32 : PixelType::rgb24);
}
catch (const aron::error::AronException&)
{
--
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