From 9c79be7555764bce3611f3e971b03b1d2359e980 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 1 Sep 2021 11:40:45 +0200
Subject: [PATCH] Implement Image code generation
---
.../cpp/serializer/ndarray/Image.cpp | 155 ++++++++++++------
1 file changed, 107 insertions(+), 48 deletions(-)
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Image.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Image.cpp
index 4dfa32d98..2f80ec2f1 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Image.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Image.cpp
@@ -52,7 +52,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr ImageSerializer::getResetHardBlock(const std::string& accessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
std::string typeConstant;
{
@@ -76,7 +76,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr ImageSerializer::getResetSoftBlock(const std::string& accessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine(accessor + " = 0;");
@@ -86,7 +86,7 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr ImageSerializer::getWriteTypeBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr b = std::make_shared<CppBlock>();
std::string typeName;
switch (typenavigator->getPixelType())
@@ -96,107 +96,166 @@ case typeConstant : \
typeName = "aron::typenavigator::ImageNavigator::pixelTypeToName( " #typeConstant " )"; \
break;
- CASE(aron::typenavigator::ImagePixelType::RGB24)
- CASE(aron::typenavigator::ImagePixelType::DEPTH32)
+ CASE(::armarx::aron::typenavigator::ImagePixelType::RGB24)
+ CASE(::armarx::aron::typenavigator::ImagePixelType::DEPTH32)
#undef CASE
}
- b->addLine("w.writeImage({\"" + typeName + "\", " + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
+ b->addLine("w.writeImage({" + typeName + ", " + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
CppBlockPtr ImageSerializer::getWriteBlock(const std::string& accessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block = std::make_shared<CppBlock>();
std::string escaped_accessor = EscapeAccessor(accessor);
std::string accessor_shape = "shape";
- block_if_data->addLine("std::vector<int> " + accessor_shape + "(" + accessor + ".size.p, " + accessor + ".size.p + " + accessor + ".dims);");
- block_if_data->addLine(accessor_shape + ".push_back(" + accessor + nextEl() + "elemSize());");
+ block->addLine("std::vector<int> " + accessor_shape + "(" + accessor + ".size.p, " + accessor + ".size.p + " + accessor + ".dims);");
+ block->addLine(accessor_shape + ".push_back(" + accessor + nextEl() + "elemSize());");
-#if 0
+#if 0 // Target code:
std::string type;
- switch (the_depth_32_image.type())
+ switch (the_depth32_image.type())
{
case CV_8UC3:
- type = aron::typenavigator::ImageNavigator::pixelTypeToName(aron::typenavigator::ImagePixelType::RGB24);
+ type = ::armarx::aron::typenavigator::ImageNavigator::pixelTypeToName(::armarx::aron::typenavigator::ImagePixelType::RGB24);
break;
case CV_32FC1:
- type = aron::typenavigator::ImageNavigator::pixelTypeToName(aron::typenavigator::ImagePixelType::DEPTH32);
+ type = ::armarx::aron::typenavigator::ImageNavigator::pixelTypeToName(::armarx::aron::typenavigator::ImagePixelType::DEPTH32);
break;
default:
{
std::stringstream ss;
- ss << "OpenCV image type " << the_depth_32_image.type() << " cannot be serialized.";
- throw aron::error::AronException("ImageTest", __FUNCTION__, ss.str());
+ ss << "OpenCV image type " << the_depth32_image.type() << " cannot be serialized.";
+ throw ::armarx::aron::error::AronException("ImageTest", __FUNCTION__, ss.str());
}
}
#endif
- block_if_data->addLine("std::string type;");
+ block->addLine("std::string arrayType;");
+ block->addLine("switch (" + accessor + ".type())");
{
- CppBlockPtr block_wrap_switch = std::make_shared<CppBlock>();
- block_wrap_switch->addLine("switch (" + accessor + ".type())");
- {
- CppBlockPtr block_switch = std::make_shared<CppBlock>();
+ CppBlockPtr block_switch = std::make_shared<CppBlock>();
-#define ADD_CASE( typeConstant ) \
+#define CASE( typeConstant ) \
block_switch->addLine("case " + pixelTypeMap.at(typeConstant) + ":"); \
- block_switch->addLine("type = aron::typenavigator::ImageNavigator::pixelTypeToName(" #typeConstant ");")
+ block_switch->addLine("arrayType = ::armarx::aron::typenavigator::ImageNavigator::pixelTypeToName(" #typeConstant ");"); \
+ block_switch->addLine("break;")
- ADD_CASE(aron::typenavigator::ImagePixelType::RGB24);
- ADD_CASE(aron::typenavigator::ImagePixelType::DEPTH32);
+ CASE(::armarx::aron::typenavigator::ImagePixelType::RGB24);
+ CASE(::armarx::aron::typenavigator::ImagePixelType::DEPTH32);
-#undef ADD_CASE
-
- block_switch->addLine("default:");
- {
- CppBlockPtr block_default = std::make_shared<CppBlock>();
- block_default->addLine("std::stringstream ss;");
- block_default->addLine("ss << \"OpenCV image type \" << " + accessor + ".type() << \" cannot be serialized.\";");
- block_default->addLine("throw aron::error::AronException(\"" + typenavigator->getName() + "\", __FUNCTION__, ss.str());");
+#undef CASE
- block_switch->addBlock(block_default);
- }
+ block_switch->addLine("default:");
+ {
+ CppBlockPtr block_default = std::make_shared<CppBlock>();
+ block_default->addLine("std::stringstream ss;");
+ block_default->addLine("ss << \"OpenCV image type \" << " + accessor + ".type() << \" cannot be serialized.\";");
+ block_default->addLine("throw ::armarx::aron::error::AronException(\"" + typenavigator->getName() + "\", __FUNCTION__, ss.str());");
- block_wrap_switch->addBlock(block_switch);
+ block_switch->addBlock(block_default);
}
- block_if_data->addBlock(block_wrap_switch);
+ block->addBlock(block_switch);
}
- block_if_data->addLine("w.writeNDArray(" + accessor_shape + ", std::to_string(" + accessor + nextEl() + "type()), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
+ block->addLine("w.writeNDArray(" + accessor_shape + ", arrayType, reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
- return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
+ return ResolveMaybeWriteBlock(accessor, block, typenavigator);
}
CppBlockPtr ImageSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- std::string escaped_accessor = EscapeAccessor(accessor);
- std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
+ const std::string escaped_accessor = EscapeAccessor(accessor);
+ const std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
+
+#if 0 // Target code
+ auto the_rgb24_image_return_type = r.readStartNDArray(); // of the_rgb24_image
+
+ if (!the_rgb24_image_return_type.dims.empty())
+ {
+ std::vector<int> shape{the_rgb24_image_return_type.dims.begin(), std::prev(the_rgb24_image_return_type.dims.end())};
- block_if_data->addLine("if (!" + read_start_result_accessor + ".dims.empty())");
- CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine(accessor + " = " + getCoreCppTypename() + "(std::vector<int>({" + read_start_result_accessor + ".dims.begin(), std::prev(" + read_start_result_accessor + ".dims.end())}), std::stoi(" + read_start_result_accessor + ".type));");
- b2->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
- block_if_data->addBlock(b2);
+ ::armarx::aron::typenavigator::ImagePixelType pixelType = ::armarx::aron::typenavigator::ImageNavigator::pixelTypeFromName(the_rgb24_image_return_type.type);
+ int cvMatType = 0;
+ switch (pixelType)
+ {
+ case ::armarx::aron::typenavigator::ImagePixelType::RGB24:
+ cvMatType = CV_8UC3;
+ case ::armarx::aron::typenavigator::ImagePixelType::DEPTH32:
+ cvMatType = CV_32FC1;
+ default:
+ {
+ std::stringstream ss;
+ ss << "NDArray Type '" << the_rgb24_image_return_type.type << "' cannot be deserialized as image.";
+ throw ::armarx::aron::error::AronException("AronImageType", __FUNCTION__, ss.str());
+ }
+ }
+
+ the_rgb24_image.create(shape, cvMatType);
+ r.readEndNDArray(reinterpret_cast<unsigned char*>(the_rgb24_image.data)); // of the_rgb24_image
+ }
+#endif
- return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator, true);
+ CppBlockPtr block = std::make_shared<CppBlock>();
+
+ block->addLine("if (!" + read_start_result_accessor + ".dims.empty())");
+ {
+ CppBlockPtr block_if = std::make_shared<CppBlock>();
+
+ block_if->addLine("std::vector<int> shape{" + read_start_result_accessor + ".dims.begin(), std::prev(" + read_start_result_accessor + ".dims.end())};");
+
+ block_if->addLine("aron::typenavigator::ImagePixelType pixelType = ::armarx::aron::typenavigator::ImageNavigator::pixelTypeFromName(" + read_start_result_accessor + ".type);");
+ block_if->addLine("int cvMatType = 0;");
+ block_if->addLine("switch (pixelType)");
+ {
+ CppBlockPtr block_switch = std::make_shared<CppBlock>();
+
+ #define CASE( typeConstant ) \
+ block_switch->addLine("case " #typeConstant ":"); \
+ block_switch->addLine("cvMatType = " + pixelTypeMap.at(typeConstant) + ";"); \
+ block_switch->addLine("break;")
+
+ CASE(::armarx::aron::typenavigator::ImagePixelType::RGB24);
+ CASE(::armarx::aron::typenavigator::ImagePixelType::DEPTH32);
+
+ #undef CASE
+
+ block_switch->addLine("default:");
+ {
+ CppBlockPtr block_default = std::make_shared<CppBlock>();
+ block_default->addLine("std::stringstream ss;");
+ block_default->addLine("ss << \"NdArray Type '\" << " + read_start_result_accessor + ".type << \"' cannot be deserialized as image.\";");
+ block_default->addLine("throw ::armarx::aron::error::AronException(\"AronImageType\", __FUNCTION__, ss.str());");
+
+ block_switch->addBlock(block_default);
+ }
+ block_if->addBlock(block_switch);
+ }
+
+ block_if->addLine(accessor + ".create(shape, cvMatType);");
+ block_if->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
+ block->addBlock(block_if);
+ }
+
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block, typenavigator, true);
}
CppBlockPtr ImageSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine("if (cv::countNonZero(" + accessor + " != " + otherInstanceAccessor + ") != 0)");
block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
}
}
+
--
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