gazebo::common::Image Class Reference

Encapsulates an image. More...

#include <common/common.hh>

Public Types
enum	PixelFormat {   UNKNOWN_PIXEL_FORMAT = 0, L_INT8, L_INT16, RGB_INT8,   RGBA_INT8, BGRA_INT8, RGB_INT16, RGB_INT32,   BGR_INT8, BGR_INT16, BGR_INT32, R_FLOAT16,   RGB_FLOAT16, R_FLOAT32, RGB_FLOAT32, BAYER_RGGB8,   BAYER_RGGR8, BAYER_GBRG8, BAYER_GRBG8, PIXEL_FORMAT_COUNT }
	Pixel formats enumeration. More...

Public Member Functions
	Image (const std::string &_filename="")
	Constructor. More...
virtual	~Image ()
	Destructor. More...
Color	GetAvgColor ()
	Get the average color. More...
unsigned int	GetBPP () const
	Get the size of one pixel in bits. More...
void	GetData (unsigned char **_data, unsigned int &_count) const
	Get the image as a data array. More...
std::string	GetFilename () const
	Get the full filename of the image. More...
unsigned int	GetHeight () const
	Get the height. More...
Color	GetMaxColor () const
	Get the max color. More...
int	GetPitch () const
Color	GetPixel (unsigned int _x, unsigned int _y) const
	Get a pixel color value. More...
PixelFormat	GetPixelFormat () const
	Get the pixel format. More...
void	GetRGBData (unsigned char **_data, unsigned int &_count) const
	Get only the RGB data from the image. More...
unsigned int	GetWidth () const
	Get the width. More...
int	Load (const std::string &_filename)
	Load an image. More...
void	Rescale (int _width, int _height)
	Rescale the image. More...
void	SavePNG (const std::string &_filename)
	Save the image in PNG format. More...
void	SetFromData (const unsigned char *_data, unsigned int _width, unsigned int _height, Image::PixelFormat _format)
	Set the image from raw data. More...
bool	Valid () const
	Returns whether this is a valid image. More...

Static Public Member Functions
static Image::PixelFormat	ConvertPixelFormat (const std::string &_format)
	Convert a string to a Image::PixelFormat. More...

Detailed Description

Encapsulates an image.

Member Enumeration Documentation

enum gazebo::common::Image::PixelFormat

Pixel formats enumeration.

Enumerator
UNKNOWN_PIXEL_FORMAT
L_INT8
L_INT16
RGB_INT8
RGBA_INT8
BGRA_INT8
RGB_INT16
RGB_INT32
BGR_INT8
BGR_INT16
BGR_INT32
R_FLOAT16
RGB_FLOAT16
R_FLOAT32
RGB_FLOAT32
BAYER_RGGB8
BAYER_RGGR8
BAYER_GBRG8
BAYER_GRBG8
PIXEL_FORMAT_COUNT

Constructor & Destructor Documentation

gazebo::common::Image::Image ( const std::string &  _filename = "")

explicit

Constructor.

Parameters

[in]

_filename

the path to the image

virtual gazebo::common::Image::~Image ( )

virtual

Destructor.

Member Function Documentation

static Image::PixelFormat gazebo::common::Image::ConvertPixelFormat ( const std::string &  _format)

static

Convert a string to a Image::PixelFormat.

Parameters

[in]

_format

Pixel format string.

See Also

Image::PixelFormatNames

Returns

Image::PixelFormat

Color gazebo::common::Image::GetAvgColor

(

)

Get the average color.

Returns

The average color

unsigned int gazebo::common::Image::GetBPP

(

)

const

Get the size of one pixel in bits.

Returns

The BPP of the image

void gazebo::common::Image::GetData	(	unsigned char **	_data,
		unsigned int &	_count
	)		const

Get the image as a data array.

Parameters

[out]	_data	Pointer to a NULL array of char.
[out]	_count	The resulting data array size

std::string gazebo::common::Image::GetFilename

(

)

const

Get the full filename of the image.

Returns

The filename used to load the image

unsigned int gazebo::common::Image::GetHeight

(

)

const

Get the height.

Returns

The image height

Color gazebo::common::Image::GetMaxColor

(

)

const

Get the max color.

Returns

The max color

int gazebo::common::Image::GetPitch

(

)

const

Returns

The pitch of the image

Color gazebo::common::Image::GetPixel	(	unsigned int	_x,
		unsigned int	_y
	)		const

Get a pixel color value.

Parameters

[in]	_x	Column location in the image
[in]	_y	Row location in the image

Returns

The color of the given pixel

PixelFormat gazebo::common::Image::GetPixelFormat

(

)

const

Get the pixel format.

Returns

PixelFormat

void gazebo::common::Image::GetRGBData	(	unsigned char **	_data,
		unsigned int &	_count
	)		const

Get only the RGB data from the image.

This will drop the alpha channel if one is present.

Parameters

[out]	_data	Pointer to a NULL array of char.
[out]	_count	The resulting data array size

unsigned int gazebo::common::Image::GetWidth

(

)

const

Get the width.

Returns

The image width

int gazebo::common::Image::Load

(

const std::string &

_filename)

Load an image.

Return 0 on success

Parameters

[in]

_filename

the path to the image file

Returns

0 when the operation succeeds to open a file or -1 when fails.

void gazebo::common::Image::Rescale	(	int	_width,
		int	_height
	)

Rescale the image.

Parameters

[in]	_width	New image width
[in]	_height	New image height

void gazebo::common::Image::SavePNG

(

const std::string &

_filename)

Save the image in PNG format.

Parameters

[in]

_filename

The name of the saved image

void gazebo::common::Image::SetFromData	(	const unsigned char *	_data,
		unsigned int	_width,
		unsigned int	_height,
		Image::PixelFormat	_format
	)

Set the image from raw data.

Parameters

[in]	_data	Pointer to the raw image data
[in]	_width	Width in pixels
[in]	_height	Height in pixels
[in]	_format	Pixel format of the provided data

bool gazebo::common::Image::Valid

(

)

const

Returns whether this is a valid image.

Returns

true if image has a bitmap

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The documentation for this class was generated from the following file:

• Image.hh