From 00d96bcfe15c20e1339b0ab7c8cbad2e5645476e Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 1 Sep 2021 14:46:48 +0200
Subject: [PATCH] Add image to example data
---
.../client/ExampleMemoryClient/CMakeLists.txt | 6 ++
.../ExampleMemoryClient.cpp | 57 +++++++++++++++++--
.../server/ExampleMemory/aron/ExampleData.xml | 7 +++
3 files changed, 66 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/CMakeLists.txt b/source/RobotAPI/components/armem/client/ExampleMemoryClient/CMakeLists.txt
index d699638cd..96cb0013a 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/CMakeLists.txt
@@ -3,11 +3,17 @@ armarx_component_set_name("ExampleMemoryClient")
find_package(IVT QUIET)
armarx_build_if(IVT_FOUND "IVT not available")
+find_package(OpenCV QUIET)
+armarx_build_if(OpenCV_FOUND "OpenCV not available")
+
+
set(COMPONENT_LIBS
ArmarXCore ArmarXCoreInterfaces # for DebugObserverInterface
ArmarXGuiComponentPlugins
RobotAPICore RobotAPIInterfaces armem
+
${IVT_LIBRARIES}
+ ${OpenCV_LIBS}
)
set(SOURCES
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index acf354925..2fc185edc 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -39,6 +39,9 @@
#include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/imgproc.hpp>
+
namespace armarx
{
@@ -381,17 +384,17 @@ namespace armarx
toAron(data.memoryLink, armem::MemoryID());
+ simox::ColorMap cmap = simox::color::cmaps::plasma();
{
data.the_ivt_image = std::make_shared<CByteImage>();
CByteImage& image = *data.the_ivt_image;
- image.Set(20, 10, CByteImage::ImageType::eRGB24);
- simox::ColorMap cmap = simox::color::cmaps::plasma();
- cmap.set_vmax(image.width + image.height);
+ image.Set(15, 35, CByteImage::ImageType::eRGB24);
+ cmap.set_vlimits(0, float(image.width + image.height));
for (int row = 0; row < image.height; ++row)
{
for (int col = 0; col < image.width; ++col)
{
- simox::Color color = cmap(row + col);
+ simox::Color color = cmap(float(row + col));
unsigned char* p = &image.pixels[(row * image.width + col) * image.bytesPerPixel];
p[0] = color.r;
p[1] = color.g;
@@ -399,6 +402,52 @@ namespace armarx
}
}
}
+ {
+ cv::Mat& image = data.the_rgb24_image;
+ image.create(10, 20, image.type());
+ cmap.set_vlimits(0, float(image.cols + image.rows));
+ using Pixel = cv::Point3_<uint8_t>;
+ image.forEach<Pixel>([&cmap](Pixel& pixel, const int position[]) -> void
+ {
+ simox::Color color = cmap(float(position[0] + position[1]));
+ pixel.x = color.r;
+ pixel.y = color.g;
+ pixel.z = color.b;
+ });
+
+ if (true)
+ {
+ cv::Mat out;
+ cv::cvtColor(image, out, CV_RGB2BGR);
+ cv::imwrite("the_rgb24_image.png", out);
+ }
+ }
+ {
+ cv::Mat& image = data.the_depth32_image;
+ image.create(20, 10, image.type());
+ image.forEach<float>([&image](float& pixel, const int position[]) -> void
+ {
+ pixel = 100 * float(position[0] + position[1]) / float(image.rows + image.cols);
+ });
+
+ cmap.set_vlimits(0, 100);
+ cv::Mat rgb(image.rows, image.cols, CV_8UC3);
+ using Pixel = cv::Point3_<uint8_t>;
+ rgb.forEach<Pixel>([&image, &cmap](Pixel& pixel, const int position[]) -> void
+ {
+ simox::Color color = cmap(image.at<float>(position));
+ pixel.x = color.r;
+ pixel.y = color.g;
+ pixel.z = color.b;
+ });
+
+ if (true)
+ {
+ cv::Mat out;
+ cv::cvtColor(rgb, out, CV_RGB2BGR);
+ cv::imwrite("the_depth32_image.png", out);
+ }
+ }
update.instancesData = { data.toAron() };
}
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
index edd34d36d..5c49bef16 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
@@ -5,6 +5,7 @@
<CodeIncludes>
<Include include="<Eigen/Core>" />
<Include include="<Image/ByteImage.h>" />
+ <Include include="<opencv2/core/core.hpp>" />
<Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
</CodeIncludes>
@@ -43,6 +44,12 @@
<ObjectChild key='the_ivt_image'>
<IVTCByteImage type="GrayScale" shared_ptr="true"/>
</ObjectChild>
+ <ObjectChild key='the_rgb24_image'>
+ <Image pixelType="rgb24"/>
+ </ObjectChild>
+ <ObjectChild key='the_depth32_image'>
+ <Image pixelType="depth32"/>
+ </ObjectChild>
<ObjectChild key='the_float_list'>
<List>
--
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