Image.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17/* Desc: Image class
18 * Author: Nate Koenig
19 * Date: 14 July 2008
20 */
21
22#ifndef _IMAGE_HH_
23#define _IMAGE_HH_
24
25#include <string>
26#include <ignition/math/Color.hh>
27
28#include "gazebo/util/system.hh"
29
30struct FIBITMAP;
31namespace gazebo
32{
33 namespace common
34 {
37
40 static std::string PixelFormatNames[] =
41 {
42 "UNKNOWN_PIXEL_FORMAT",
43 "L_INT8",
44 "L_INT16",
45 "RGB_INT8",
46 "RGBA_INT8",
47 "BGRA_INT8",
48 "RGB_INT16",
49 "RGB_INT32",
50 "BGR_INT8",
51 "BGR_INT16",
52 "BGR_INT32",
53 "R_FLOAT16",
54 "RGB_FLOAT16",
55 "R_FLOAT32",
56 "RGB_FLOAT32",
57 "BAYER_RGGB8",
58 "BAYER_RGGR8",
59 "BAYER_GBRG8",
60 "BAYER_GRBG8"
61 };
62
65 class GZ_COMMON_VISIBLE Image
66 {
91
92
97 const std::string &_format);
98
101 public: explicit Image(const std::string &_filename="");
102
104 public: virtual ~Image();
105
109 public: int Load(const std::string &_filename);
110
113 public: void SavePNG(const std::string &_filename);
114
120 public: void SetFromData(const unsigned char *_data,
121 unsigned int _width,
122 unsigned int _height,
123 Image::PixelFormat _format);
124
128 public: void GetData(unsigned char **_data,
129 unsigned int &_count) const;
130
135 public: void GetRGBData(unsigned char **_data,
136 unsigned int &_count) const;
137
140 public: unsigned int GetWidth() const;
141
144 public: unsigned int GetHeight() const;
145
148 public: unsigned int GetBPP() const;
149
150 // \brief Get the size of a row of pixel
152 public: int GetPitch() const;
153
156 public: std::string GetFilename() const;
157
161
166 public: ignition::math::Color Pixel(const unsigned int _x,
167 const unsigned int _y) const;
168
171 public: ignition::math::Color AvgColor();
172
175 public: ignition::math::Color MaxColor() const;
176
180 public: void Rescale(int _width, int _height);
181
184 public: bool Valid() const;
185
187 private: void GetDataImpl(unsigned char **_data, unsigned int &_count,
188 FIBITMAP *_img) const;
189
192 private: static int count;
193
195 private: FIBITMAP *bitmap;
196
198 private: std::string fullName;
199 };
201 }
202}
203#endif
common
Definition FuelModelDatabase.hh:37
Encapsulates an image.
Definition Image.hh:66
unsigned int GetHeight() const
Get the height.
std::string GetFilename() const
Get the full filename of the image.
ignition::math::Color MaxColor() const
Get the max color.
PixelFormat GetPixelFormat() const
Get the pixel format.
bool Valid() const
Returns whether this is a valid image.
virtual ~Image()
Destructor.
unsigned int GetWidth() const
Get the width.
PixelFormat
Pixel formats enumeration.
Definition Image.hh:69
@ BAYER_GRBG8
Definition Image.hh:88
@ RGB_FLOAT16
Definition Image.hh:82
@ RGB_INT8
Definition Image.hh:73
@ RGB_FLOAT32
Definition Image.hh:84
@ BAYER_GBRG8
Definition Image.hh:87
@ L_INT16
Definition Image.hh:72
@ BGR_INT8
Definition Image.hh:78
@ R_FLOAT32
Definition Image.hh:83
@ BAYER_RGGB8
Definition Image.hh:85
@ L_INT8
Definition Image.hh:71
@ RGB_INT32
Definition Image.hh:77
@ RGBA_INT8
Definition Image.hh:74
@ BGR_INT32
Definition Image.hh:80
@ UNKNOWN_PIXEL_FORMAT
Definition Image.hh:70
@ PIXEL_FORMAT_COUNT
Definition Image.hh:89
@ BGRA_INT8
Definition Image.hh:75
@ RGB_INT16
Definition Image.hh:76
@ BGR_INT16
Definition Image.hh:79
@ R_FLOAT16
Definition Image.hh:81
@ BAYER_RGGR8
Definition Image.hh:86
Image(const std::string &_filename="")
Constructor.
void GetData(unsigned char **_data, unsigned int &_count) const
Get the image as a data array.
static Image::PixelFormat ConvertPixelFormat(const std::string &_format)
Convert a string to a Image::PixelFormat.
void GetRGBData(unsigned char **_data, unsigned int &_count) const
Get only the RGB data from the image.
void SetFromData(const unsigned char *_data, unsigned int _width, unsigned int _height, Image::PixelFormat _format)
Set the image from raw data.
void Rescale(int _width, int _height)
Rescale the image.
int Load(const std::string &_filename)
Load an image.
ignition::math::Color AvgColor()
Get the average color.
unsigned int GetBPP() const
Get the size of one pixel in bits.
void SavePNG(const std::string &_filename)
Save the image in PNG format.
ignition::math::Color Pixel(const unsigned int _x, const unsigned int _y) const
Get a pixel color value.
static std::string PixelFormatNames[]
String names for the pixel formats.
Definition Image.hh:40
Forward declarations for the common classes.
Definition Animation.hh:27