Image.hh

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/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Image class
 * Author: Nate Koenig
 * Date: 14 July 2008
 */

#ifndef _IMAGE_HH_
#define _IMAGE_HH_

#ifdef BOOL
#undef BOOL
#endif
#include <FreeImage.h>
#include <string>

#include "gazebo/common/Color.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {

    static std::string PixelFormatNames[] =
    {
      "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"
    };

    class GAZEBO_VISIBLE Image
    {
      public: 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
              };


      public: static Image::PixelFormat ConvertPixelFormat(
                  const std::string &_format);

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

      public: virtual ~Image();

      public: int Load(const std::string &_filename);

      public: void SavePNG(const std::string &_filename);

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

      public: void GetData(unsigned char **_data,
                           unsigned int &_count) const;

      public: void GetRGBData(unsigned char **_data,
                              unsigned int &_count) const;

      public: unsigned int GetWidth() const;

      public: unsigned int GetHeight() const;

      public: unsigned int GetBPP() const;

      // \brief Get the size of a row of pixel
      public: int GetPitch() const;

      public: std::string GetFilename() const;

      public: PixelFormat GetPixelFormat() const;

      public: Color GetPixel(unsigned int _x, unsigned int _y) const;

      public: Color GetAvgColor();

      public: Color GetMaxColor() const;

      public: void Rescale(int _width, int _height);

      public: bool Valid() const;

      private: void GetDataImpl(unsigned char **_data, unsigned int &_count,
          FIBITMAP *_img) const;

      private: static int count;

      private: FIBITMAP *bitmap;

      private: std::string fullName;
    };
  }
}
#endif