From 2e64c95e1ae8aece480ad659e2d73e5c4a10bd31 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 1 Sep 2021 18:41:38 +0200
Subject: [PATCH] Disable image storing in example client
---
.../ExampleMemoryClient.cpp | 26 ++++++++++---------
1 file changed, 14 insertions(+), 12 deletions(-)
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index 2fc185edc..1db77c2f3 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -39,8 +39,12 @@
#include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
+#define STORE_IMAGES 0
+
+#if STORE_IMAGES
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>
+#endif
namespace armarx
@@ -415,12 +419,11 @@ namespace armarx
pixel.z = color.b;
});
- if (true)
- {
- cv::Mat out;
- cv::cvtColor(image, out, CV_RGB2BGR);
- cv::imwrite("the_rgb24_image.png", out);
- }
+#if STORE_IMAGES
+ cv::Mat out;
+ cv::cvtColor(image, out, CV_RGB2BGR);
+ cv::imwrite("the_rgb24_image.png", out);
+#endif
}
{
cv::Mat& image = data.the_depth32_image;
@@ -430,6 +433,7 @@ namespace armarx
pixel = 100 * float(position[0] + position[1]) / float(image.rows + image.cols);
});
+#if STORE_IMAGES
cmap.set_vlimits(0, 100);
cv::Mat rgb(image.rows, image.cols, CV_8UC3);
using Pixel = cv::Point3_<uint8_t>;
@@ -441,12 +445,10 @@ namespace armarx
pixel.z = color.b;
});
- if (true)
- {
- cv::Mat out;
- cv::cvtColor(rgb, out, CV_RGB2BGR);
- cv::imwrite("the_depth32_image.png", out);
- }
+ cv::Mat out;
+ cv::cvtColor(rgb, out, CV_RGB2BGR);
+ cv::imwrite("the_depth32_image.png", out);
+#endif
}
update.instancesData = { data.toAron() };
--
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