diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index cfa58385b59d35c8280d4f4886090b66c3e70143..da6ee43303128a3a73bf8db917301c41fe4b7695 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -16,6 +16,7 @@
#include <SimoxUtility/algorithm/string.h>
#include <SimoxUtility/color/cmaps.h>
+#include <SimoxUtility/math/SoftMinMax.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -278,6 +279,26 @@ namespace armarx::armem::gui::instance
{
this->showImageView(path.value());
});
+
+ try
+ {
+ aron::datanavigator::NavigatorPtr element = currentInstance->data()->navigateAbsolute(path.value());
+ if (auto imageData = aron::datanavigator::NDArrayNavigator::DynamicCast(element))
+ {
+ const std::vector<int> shape = imageData->getDimensions();
+ if (std::find(shape.begin(), shape.end(), 0) != shape.end())
+ {
+ viewAction->setText(viewAction->text() + " (image is empty)");
+ viewAction->setEnabled(false);
+ }
+ }
+ }
+ catch (const aron::error::AronException&)
+ {
+ }
+ catch (const armarx::LocalException&)
+ {
+ }
}
}
break;
@@ -427,8 +448,9 @@ namespace armarx::armem::gui::instance
}
- static
- QImage convertDepth32ToRGB32(const aron::datanavigator::NDArrayNavigator& aron)
+
+ QImage InstanceView::ImageView::convertDepth32ToRGB32(
+ const aron::datanavigator::NDArrayNavigator& aron)
{
const std::vector<int> shape = aron.getDimensions();
ARMARX_CHECK_EQUAL(shape.size(), 3);
@@ -442,11 +464,18 @@ namespace armarx::armem::gui::instance
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];
+ auto updateLimits = [](float value, Limits& limits)
+ {
+ if (value > 0) // Exclude 0 from normalization (it may be only background)
+ {
+ limits.min = std::min(limits.min, value);
+ }
+ limits.max = std::max(limits.max, value);
+ };
+ // Find data range and adapt cmap.
+ Limits limits;
+ if (limitsHistory.empty())
{
const float* sourceRow = data;
for (int row = 0; row < rows; ++row)
@@ -454,13 +483,28 @@ namespace armarx::armem::gui::instance
for (int col = 0; col < cols; ++col)
{
float value = sourceRow[col];
- min = std::min(min, value);
- max = std::max(max, value);
+ updateLimits(value, limits);
}
sourceRow += cols;
}
- cmap.set_vlimits(min, max);
+ cmap.set_vlimits(limits.min, limits.max);
}
+ // Only do it at the beginning and stop after enough samples were collected.
+ else if (limitsHistory.size() < limitsHistoryMaxSize)
+ {
+ simox::math::SoftMinMax softMin(0.25, limitsHistory.size());
+ simox::math::SoftMinMax softMax(0.25, limitsHistory.size());
+
+ for (auto& l : limitsHistory)
+ {
+ softMin.add(l.min);
+ softMax.add(l.max);
+ }
+
+ cmap.set_vlimits(softMin.getSoftMin(), softMax.getSoftMax());
+ }
+
+ // Update image
{
const float* sourceRow = data;
@@ -472,16 +516,24 @@ namespace armarx::armem::gui::instance
for (int col = 0; col < cols; ++col)
{
float value = sourceRow[col];
- simox::Color color = cmap(value);
+ simox::Color color = value <= 0
+ ? simox::Color::white()
+ : 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;
+
+ updateLimits(value, limits);
}
sourceRow += cols;
targetRow += bytesPerLine;
}
}
+ if (limitsHistory.size() < limitsHistoryMaxSize)
+ {
+ limitsHistory.push_back(limits);
+ }
return image;
}
@@ -548,6 +600,7 @@ namespace armarx::armem::gui::instance
{
}
+ bool clearLimitsHistory = true;
std::optional<QImage> image;
if (pixelType)
{
@@ -559,7 +612,8 @@ namespace armarx::armem::gui::instance
break;
case ImagePixelType::Depth32:
- image = convertDepth32ToRGB32(*imageData);
+ image = imageView->convertDepth32ToRGB32(*imageData);
+ clearLimitsHistory = false;
break;
}
}
@@ -590,10 +644,17 @@ namespace armarx::armem::gui::instance
title << "Image element '" << imageView->elementPath.toString() << "'"; // of entity instance " << currentInstance->id();
imageView->setTitle(QString::fromStdString(title.str()));
imageView->view->setImage(image.value());
+
+ if (clearLimitsHistory)
+ {
+ imageView->limitsHistory.clear();
+ }
}
- InstanceView::ImageView::ImageView()
+ InstanceView::ImageView::ImageView() :
+ cmap(simox::color::cmaps::plasma().reversed()),
+ limitsHistoryMaxSize(32)
{
setLayout(new QHBoxLayout());
int margin = 2;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
index 76a3988db8112f9b9437172710e05a900bb95f8f..ab434ba10c6084d4440f7ae2c08758f05f038ed4 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
@@ -1,10 +1,13 @@
#pragma once
#include <optional>
+#include <deque>
#include <QWidget>
#include <QGroupBox>
+#include <SimoxUtility/color/ColorMap.h>
+
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
@@ -104,10 +107,26 @@ namespace armarx::armem::gui::instance
public:
ImageView();
+ QImage convertDepth32ToRGB32(const aron::datanavigator::NDArrayNavigator& aron);
+
instance::ImageView* view;
aron::Path elementPath;
WidgetsWithToolbar* toolbar;
+
+
+ struct Limits
+ {
+ float min = std::numeric_limits<float>::max();
+ float max = -std::numeric_limits<float>::max();
+ };
+
+ /// Color map to visualize depth images.
+ simox::ColorMap cmap;
+ /// History over first n extremal depth values used to calibrate the colormap.
+ std::deque<Limits> limitsHistory;
+ /// In this context, n.
+ const size_t limitsHistoryMaxSize;
};
ImageView* imageView = nullptr;