From 2c24aef51c133e5c712d708897d6be9ff7362d24 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 1 Sep 2021 14:46:33 +0200
Subject: [PATCH] Handle image in visitors and InstanceView
---
.../armem_gui/instance/ImageView.cpp | 1 -
.../libraries/armem_gui/instance/ImageView.h | 4 +-
.../armem_gui/instance/InstanceView.cpp | 119 ++++++++++++++++--
.../display_visitors/DataDisplayVisitor.cpp | 3 +-
.../TypedDataDisplayVisitor.cpp | 8 ++
.../TypedDataDisplayVisitor.h | 1 +
.../navigator/visitors/TypedDataVisitor.cpp | 4 +
.../navigator/visitors/TypedDataVisitor.h | 11 ++
8 files changed, 137 insertions(+), 14 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_gui/instance/ImageView.cpp b/source/RobotAPI/libraries/armem_gui/instance/ImageView.cpp
index 05979fe8f..8c75fbd87 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/ImageView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/ImageView.cpp
@@ -13,7 +13,6 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
-* @package ArmarX::
* @author Rainer Kartmann ( rainer dot kartmann at kit dot edu)
* @date 2021
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
diff --git a/source/RobotAPI/libraries/armem_gui/instance/ImageView.h b/source/RobotAPI/libraries/armem_gui/instance/ImageView.h
index d684bbccc..4b85e093a 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/ImageView.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/ImageView.h
@@ -13,7 +13,6 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
-* @package ArmarX::
* @author Rainer Kartmann ( rainer dot kartmann at kit dot edu)
* @date 2021
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
@@ -29,6 +28,9 @@
namespace armarx::armem::gui::instance
{
+ /**
+ * @brief A widget drawing an image in itself.
+ */
class ImageView : public QWidget
{
Q_OBJECT
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index 8fda3cc4b..8108d64a9 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -15,6 +15,7 @@
#include <QVBoxLayout>
#include <SimoxUtility/algorithm/string.h>
+#include <SimoxUtility/color/cmaps.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -266,6 +267,7 @@ namespace armarx::armem::gui::instance
aron::type::Descriptor type = static_cast<aron::type::Descriptor>(item->data(int(Columns::TYPE), Qt::UserRole).toInt());
switch (type)
{
+ case aron::type::Descriptor::eImage:
case aron::type::Descriptor::eIVTCByteImage:
{
if (const std::optional<aron::Path> path = getElementPath(item))
@@ -395,11 +397,11 @@ namespace armarx::armem::gui::instance
void InstanceView::showImageView(const aron::Path& elementPath)
{
- if (!currentInstance)
+ if (not currentInstance)
{
return;
}
- if (!imageView)
+ if (not imageView)
{
WidgetsWithToolbar* toolbar = new WidgetsWithToolbar();
@@ -425,15 +427,75 @@ namespace armarx::armem::gui::instance
}
+ static
+ QImage convertDepth32ToRGB32(const aron::datanavigator::NDArrayNavigator& aron)
+ {
+ const std::vector<int> shape = aron.getDimensions();
+ ARMARX_CHECK_EQUAL(shape.size(), 3);
+ ARMARX_CHECK_EQUAL(shape.at(2), 4) << "Expected Depth32 image to have 4 bytes per pixel.";
+
+ const int rows = shape.at(0);
+ const int cols = shape.at(1);
+
+ // Rendering seems to be optimized for RGB32
+ // rows go along 0 = height, cols go along 1 = width
+ QImage image(cols, rows, QImage::Format::Format_RGB32);
+ const float* data = reinterpret_cast<float*>(aron.getData());
+
+ // Find data range and adapt cmap.
+ simox::ColorMap cmap = simox::color::cmaps::plasma();
+ float min = data[0];
+ float max = data[0];
+
+ {
+ const float* sourceRow = data;
+ for (int row = 0; row < rows; ++row)
+ {
+ for (int col = 0; col < cols; ++col)
+ {
+ float value = sourceRow[col];
+ min = std::min(min, value);
+ max = std::max(max, value);
+ }
+ sourceRow += cols;
+ }
+ cmap.set_vlimits(min, max);
+ }
+ {
+ const float* sourceRow = data;
+
+ const int bytesPerLine = image.bytesPerLine();
+ uchar* targetRow = image.bits();
+
+ for (int row = 0; row < rows; ++row)
+ {
+ for (int col = 0; col < cols; ++col)
+ {
+ float value = sourceRow[col];
+ simox::Color color = cmap(value);
+ targetRow[col*4 + 0] = color.b;
+ targetRow[col*4 + 1] = color.g;
+ targetRow[col*4 + 2] = color.r;
+ targetRow[col*4 + 3] = color.a;
+ }
+ sourceRow += cols;
+ targetRow += bytesPerLine;
+ }
+ }
+
+ return image;
+ }
+
+
void InstanceView::updateImageView(const aron::datanavigator::DictNavigatorPtr& data)
{
using aron::datanavigator::NDArrayNavigator;
- if (!imageView)
+ if (not imageView)
{
return;
}
- if (!data)
+ if (not data)
{
removeImageView();
return;
@@ -460,39 +522,74 @@ namespace armarx::armem::gui::instance
}
NDArrayNavigator::PointerType imageData = NDArrayNavigator::DynamicCast(element);
- if (!imageData)
+ if (not imageData)
{
showErrorMessage("Expected NDArrayNavigator, but got: " + simox::meta::get_type_name(element));
return;
}
- std::vector<int> shape = imageData->getDimensions();
+ const std::vector<int> shape = imageData->getDimensions();
if (shape.size() != 3)
{
showErrorMessage("Expected array shape with 3 dimensions, but got: "
+ NDArrayNavigator::DimensionsToString(shape));
return;
}
+ const int rows = shape.at(0);
+ const int cols = shape.at(1);
+
+ using aron::typenavigator::ImagePixelType;
+ std::optional<ImagePixelType> pixelType;
+ try
+ {
+ pixelType = aron::typenavigator::ImageNavigator::pixelTypeFromName(imageData->getType());
+ }
+ catch (const aron::error::AronException&)
+ {
+ }
- QImage::Format format = QImage::Format::Format_Invalid;
- switch (shape.at(2))
+ std::optional<QImage> image;
+ if (pixelType)
{
+ switch (pixelType.value())
+ {
+ case ImagePixelType::RGB24:
+ ARMARX_CHECK_EQUAL(shape.at(2), 3) << "Expected Rgb24 image to have 3 bytes per pixel.";
+ image = QImage(imageData->getData(), cols, rows, QImage::Format::Format_RGB888);
+ break;
+
+ case ImagePixelType::DEPTH32:
+ image = convertDepth32ToRGB32(*imageData);
+ break;
+ }
+ }
+ else
+ {
+ QImage::Format format = QImage::Format_Invalid;
+ switch (shape.at(2))
+ {
case 1:
format = QImage::Format::Format_Grayscale8;
break;
+
case 3:
format = QImage::Format::Format_RGB888;
break;
+
default:
showErrorMessage("Expected 1 or 3 elements in last dimension, but got shape: "
+ NDArrayNavigator::DimensionsToString(shape));
return;
+ }
+ image = QImage(imageData->getData(), cols, rows, format);
}
+ ARMARX_CHECK(image.has_value());
+
std::stringstream title;
- title << "Image element '" << imageView->elementPath.toString() << "'"; // of entity instance " << currentInstance->id();
+ title << "Image element '" << imageView->elementPath.toString() << "'"; // of entity instance " << currentInstance->id();
imageView->setTitle(QString::fromStdString(title.str()));
- imageView->view->setImage(QImage(imageData->getData(), shape.at(0), shape.at(1), format));
+ imageView->view->setImage(image.value());
}
@@ -501,7 +598,7 @@ namespace armarx::armem::gui::instance
setLayout(new QHBoxLayout());
int margin = 2;
layout()->setContentsMargins(margin, margin, margin, margin);
- if (false)
+ if (/* DISABLES CODE */ (false))
{
QFont font = this->font();
font.setPointSizeF(font.pointSize() * 0.75);
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp
index f41f5d4cb..af2192c2a 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp
@@ -68,7 +68,8 @@ namespace armarx::aron
bool DataDisplayVisitor::visit(NDArrayDataNavigator& n)
{
- value << "shape " << aron::datanavigator::NDArrayNavigator::DimensionsToString(n.getDimensions());
+ value << "shape " << aron::datanavigator::NDArrayNavigator::DimensionsToString(n.getDimensions())
+ << ", type '" << n.getType() << "'";
return false;
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
index eb1cda5fd..16c54007a 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
@@ -140,6 +140,14 @@ namespace armarx::aron
return false;
}
+ bool TypedDataDisplayVisitor::visit(ImageNavigator&, NDArrayDataNavigator& data)
+ {
+ // aron::typenavigator::ImagePixelType pixelType = ImageNavigator::pixelTypeFromName(data.getType());
+ //value << DataDisplayVisitor::getValue(data) << " pixel type: " << data.getType()";
+ value << DataDisplayVisitor::getValue(data);
+ return false;
+ }
+
bool TypedDataDisplayVisitor::visit(IVTCByteImageTypeNavigator&, NDArrayDataNavigator& data)
{
value << DataDisplayVisitor::getValue(data);
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
index 87220babb..4bf2ec5d8 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
@@ -44,6 +44,7 @@ namespace armarx::aron
bool visit(EigenMatrixTypeNavigator&, NDArrayDataNavigator& data) override;
bool visit(EigenQuaternionTypeNavigator&, NDArrayDataNavigator& data) override;
+ bool visit(ImageNavigator&, NDArrayDataNavigator& data) override;
bool visit(IVTCByteImageTypeNavigator&, NDArrayDataNavigator& data) override;
bool visit(OpenCVMatTypeNavigator&, NDArrayDataNavigator& data) override;
bool visit(PCLPointCloudTypeNavigator&, NDArrayDataNavigator& data) override;
diff --git a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp
index e99a7f916..fe98e3abe 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp
@@ -155,6 +155,10 @@ namespace armarx::aron::visitor
{
return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
}
+ else if (auto t = dynamic_cast<ImageNavigator*>(&type))
+ {
+ return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
+ }
else if (auto t = dynamic_cast<IVTCByteImageTypeNavigator*>(&type))
{
return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
diff --git a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h
index f577903a4..b2efdaa79 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h
@@ -79,6 +79,7 @@ namespace armarx::aron::visitor
// Array-valued
using EigenMatrixTypeNavigator = typenavigator::EigenMatrixNavigator;
using EigenQuaternionTypeNavigator = typenavigator::EigenQuaternionNavigator;
+ using ImageNavigator = typenavigator::ImageNavigator;
using IVTCByteImageTypeNavigator = typenavigator::IVTCByteImageNavigator;
using OpenCVMatTypeNavigator = typenavigator::OpenCVMatNavigator;
using PCLPointCloudTypeNavigator = typenavigator::PCLPointCloudNavigator;
@@ -193,6 +194,11 @@ namespace armarx::aron::visitor
(void) type, (void) data;
return true;
}
+ virtual bool visit(ImageNavigator& type, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) data;
+ return true;
+ }
virtual bool visit(IVTCByteImageTypeNavigator& type, NDArrayDataNavigator& data)
{
(void) type, (void) data;
@@ -323,6 +329,11 @@ namespace armarx::aron::visitor
(void) type, (void) key;
return visit(type, data);
}
+ virtual bool visit(ImageNavigator& type, const std::string& key, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) key;
+ return visit(type, data);
+ }
virtual bool visit(IVTCByteImageTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
{
(void) type, (void) key;
--
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