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...
 
ignition::math::Color AvgColor ()
 Get the average color. More...
 
Color GetAvgColor () GAZEBO_DEPRECATED(9.0)
 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 GAZEBO_DEPRECATED(9.0)
 Get the max color. More...
 
int GetPitch () const
 
Color GetPixel (unsigned int _x, unsigned int _y) const GAZEBO_DEPRECATED(9.0)
 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...
 
ignition::math::Color MaxColor () const
 Get the max color. More...
 
ignition::math::Color Pixel (const unsigned int _x, const unsigned int _y) const
 Get a pixel color value. 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

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

Image ( const std::string &  _filename = "")
explicit

Constructor.

Parameters
[in]_filenamethe path to the image
virtual ~Image ( )
virtual

Destructor.

Member Function Documentation

ignition::math::Color AvgColor ( )

Get the average color.

Returns
The average color
static Image::PixelFormat ConvertPixelFormat ( const std::string &  _format)
static

Convert a string to a Image::PixelFormat.

Parameters
[in]_formatPixel format string.
See Also
Image::PixelFormatNames
Returns
Image::PixelFormat
Color GetAvgColor ( )

Get the average color.

Returns
The average color
Deprecated:
See function that returns ignition::math::Color.
unsigned int GetBPP ( ) const

Get the size of one pixel in bits.

Returns
The BPP of the image
void GetData ( unsigned char **  _data,
unsigned int &  _count 
) const

Get the image as a data array.

Parameters
[out]_dataPointer to a nullptr array of char.
[out]_countThe resulting data array size
std::string GetFilename ( ) const

Get the full filename of the image.

Returns
The filename used to load the image
unsigned int GetHeight ( ) const

Get the height.

Returns
The image height
Color GetMaxColor ( ) const

Get the max color.

Returns
The max color
Deprecated:
See function that returns ignition::math::Color.
int GetPitch ( ) const
Returns
The pitch of the image
Color GetPixel ( unsigned int  _x,
unsigned int  _y 
) const

Get a pixel color value.

Parameters
[in]_xColumn location in the image
[in]_yRow location in the image
Returns
The color of the given pixel
Deprecated:
See function that returns ignition::math::Color.
PixelFormat GetPixelFormat ( ) const

Get the pixel format.

Returns
PixelFormat
void 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]_dataPointer to a nullptr array of char.
[out]_countThe resulting data array size
unsigned int GetWidth ( ) const

Get the width.

Returns
The image width
int Load ( const std::string &  _filename)

Load an image.

Return 0 on success

Parameters
[in]_filenamethe path to the image file
Returns
0 when the operation succeeds to open a file or -1 when fails.
ignition::math::Color MaxColor ( ) const

Get the max color.

Returns
The max color
ignition::math::Color Pixel ( const unsigned int  _x,
const unsigned int  _y 
) const

Get a pixel color value.

Parameters
[in]_xColumn location in the image
[in]_yRow location in the image
Returns
The color of the given pixel
void Rescale ( int  _width,
int  _height 
)

Rescale the image.

Parameters
[in]_widthNew image width
[in]_heightNew image height
void SavePNG ( const std::string &  _filename)

Save the image in PNG format.

Parameters
[in]_filenameThe name of the saved image
void SetFromData ( const unsigned char *  _data,
unsigned int  _width,
unsigned int  _height,
Image::PixelFormat  _format 
)

Set the image from raw data.

Parameters
[in]_dataPointer to the raw image data
[in]_widthWidth in pixels
[in]_heightHeight in pixels
[in]_formatPixel format of the provided data
bool Valid ( ) const

Returns whether this is a valid image.

Returns
true if image has a bitmap

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