RobWorkProject: Image Class Reference

The image class is a simple wrapper around a char data array. This Image wrapper contain information of width, height and encoding. More...

#include <Image.hpp>

Classes
struct	Pixel4i

Public Types
enum	ColorCode { GRAY , RGB , RGBA , BGR , BGRA , BayerBG , Luv , Lab , HLS , User }
	The color encodings that the image can use. This also defines the number channels that an image has. More...

enum	PixelDepth { Depth8U , Depth8S , Depth16U , Depth16S , Depth32S , Depth32F }
	The pixeldepth determines how many bits that are used per pixel per channel. More...

typedef rw::core::Ptr< Image >	Ptr
	smart pointer type to this class

Public Member Functions
	Image ()
	default constructor

	Image (unsigned int width, unsigned int height, ColorCode encoding, PixelDepth depth)
	constructor More...

	Image (char *imgData, unsigned int width, unsigned int height, ColorCode encoding, PixelDepth depth)
	constructor More...

virtual	~Image ()
	destructor

void	resize (unsigned int width, unsigned int height)
	resizes the current image. More...

char *	getImageData ()
	returns a char pointer to the image data More...

const char *	getImageData () const
	returns a char pointer to the image data More...

void	setImageData (char *data)
	sets the data array of this image. Make sure to change the height and width accordingly.

size_t	getDataSize () const
	returns the size of the char data array More...

std::pair< unsigned int, unsigned int >	getImageDimension ()
	returns the dimensions (width and height) of this image More...

unsigned int	getWidth () const
	returns the width of this image More...

unsigned int	getHeight () const
	returns the height of this image More...

ColorCode	getColorEncoding () const
	returns color encoding/type of this image More...

unsigned int	getBitsPerPixel () const
	returns the number of bits per pixel. This is the number of bits used per pixel per channel. More...

bool	saveAsPGM (const std::string &fileName) const
	saves this image to a file in the PGM (grayscale) format More...

bool	saveAsPGMAscii (const std::string &fileName) const
	saves this image to a file in the ascii PGM (grayscale) format More...

bool	saveAsPPM (const std::string &fileName) const
	saves this image to a file in the PPM (color) format More...

unsigned int	getWidthStep () const
	the size of an aligned image row in bytes. This may not be the same as the width if extra bytes are padded to each row for alignment purposes. More...

PixelDepth	getPixelDepth () const
	bits per pixel encoded as a PixelDepth type. More...

unsigned int	getNrOfChannels () const
	The number of channels that this image has. More...

Pixel4f	getPixel (size_t x, size_t y) const
	generic but inefficient access to pixel information. The float value is between [0;1] which means non float images are scaled according to their pixel depth (bits per pixel). More...

Pixel4f	getPixelf (size_t x, size_t y) const

void	getPixel (size_t x, size_t y, Pixel4f &dst) const
	generic but inefficient access to pixel information. The float value is between [0;1] which means non float images are scaled according to their pixel depth (bits per pixel). More...

Pixel4i	getPixeli (size_t x, size_t y) const
	generic access to pixel information, however user must take care of the pixel depth himself. If image is a Depth8U then the maximum value is 254. Also float images are scaled accordingly. More...

void	getPixel (size_t x, size_t y, Pixel4i &dst) const
	generic access to pixel information, however user must take care of the pixel depth himself. If image is a Depth8U then the maximum value is 254. Also float images are scaled accordingly. More...

float	getPixelValue (size_t x, size_t y, size_t channel) const
	generic but inefficient access to a specific channel of a pixel. More...

float	getPixelValuef (size_t x, size_t y, size_t channel) const

int	getPixelValuei (size_t x, size_t y, size_t channel) const

template<typename T >
void	getPixelValue (size_t x, size_t y, size_t channel, T &dst) const

void	setPixel (size_t x, size_t y, const Pixel4f &value)

void	setPixel8U (const int x, const int y, uint8_t value)
	sets the gray tone in a 1-channel gray tone image with More...

void	setPixel8U (const int x, const int y, uint8_t ch0, uint8_t ch1, uint8_t ch2)

void	setPixel8U (const int x, const int y, uint8_t ch0, uint8_t ch1, uint8_t ch2, uint8_t ch3)

void	setPixel8S (const int x, const int y, int8_t value)

void	setPixel8S (const int x, const int y, int8_t ch0, int8_t ch1, int8_t ch2)

void	setPixel8S (const int x, const int y, int8_t ch0, int8_t ch1, int8_t ch2, int8_t ch3)

void	setPixel16U (const int x, const int y, uint16_t value)

void	setPixel16U (const int x, const int y, uint16_t ch0, uint16_t ch1, uint16_t ch2)

void	setPixel16U (const int x, const int y, uint16_t ch0, uint16_t ch1, uint16_t ch2, uint16_t ch3)

void	setPixel16S (const int x, const int y, int16_t value)

void	setPixel16S (const int x, const int y, int16_t ch0, int16_t ch1, int16_t ch2)

void	setPixel16S (const int x, const int y, int16_t ch0, int16_t ch1, int16_t ch2, int16_t ch3)

void	setPixel32S (const int x, const int y, int32_t value)

void	setPixel32S (const int x, const int y, int32_t ch0, int32_t ch1, int32_t ch2)

void	setPixel32S (const int x, const int y, int32_t ch0, int32_t ch1, int32_t ch2, int32_t ch3)

void	setPixel32F (const int x, const int y, float value)

void	setPixel32F (const int x, const int y, float ch0, float ch1, float ch2)

void	setPixel32F (const int x, const int y, float ch0, float ch1, float ch2, float ch3)

template<PixelDepth DT>
void	setPixel (const int x, const int y, int value)

template<PixelDepth DT>
void	setPixel (const int x, const int y, float value)

template<PixelDepth DT>
void	setPixel (const int x, const int y, const int ch0, const int ch1, const int ch2)

template<PixelDepth DT>
void	setPixel (const int x, const int y, const int ch0, const int ch1, const int ch2, const int ch3)

Image::Ptr	copyFlip (bool horizontal, bool vertical) const
	copies this image and flips it around horizontal or vertical axis or both. More...

Protected Attributes
size_t	_arrSize
	width of a row in bytes, _width_nrChannels(bytesPerChannel)

char *	_imageData
	Char array of image data.

size_t	_stride

unsigned int	_valueMask
	the stride of a pixel value

float	_toFloat
	true if float representation is used

float	_fromFloat

Detailed Description

The image class is a simple wrapper around a char data array. This Image wrapper contain information of width, height and encoding.

The image class is somewhat inspired by the IplImage of opencv.

The coordinate system has its origin located at the top-left position, where from X increases to the left and Y-increases downwards.

setting pixel values in an efficient manner has been enabled using some template joggling. It requires that the user know what type of image he/she is working with.

Member Enumeration Documentation

◆ ColorCode

enum ColorCode

The color encodings that the image can use. This also defines the number channels that an image has.

Enumerator
GRAY	Grayscale image 1-channel.
RGB	3-channel color image (Standard opengl)
RGBA	4-channel color image with alpha channel
BGR	3-channel color image (Standard OpenCV)
BGRA	4-channel color image with alpha channel

◆ PixelDepth

enum PixelDepth

The pixeldepth determines how many bits that are used per pixel per channel.

Enumerator
Depth8U	Depth8U.
Depth8S	Depth8S.
Depth16U	Depth16U.
Depth16S	Depth16S.
Depth32S	Depth32S.
Depth32F	Depth32F.

Constructor & Destructor Documentation

◆ Image() [1/2]

Image	(	unsigned int	width,
		unsigned int	height,
		ColorCode	encoding,
		PixelDepth	depth
	)

constructor

Parameters

width	[in] width of the image
height	[in] height of the image
encoding	[in] the colorCode of this Image
depth	[in] the pixel depth in bits per channel

◆ Image() [2/2]

Image	(	char *	imgData,
		unsigned int	width,
		unsigned int	height,
		ColorCode	encoding,
		PixelDepth	depth
	)

constructor

Parameters

imgData	[in] char pointer that points to an array of chars with length widthheight(bitsPerPixel/8)
width	[in] width of the image
height	[in] height of the image
encoding	[in] the colorCode of this Image
depth	[in] the pixel depth in bits per channel

Member Function Documentation

◆ copyFlip()

Image::Ptr copyFlip	(	bool	horizontal,
		bool	vertical
	)		const

copies this image and flips it around horizontal or vertical axis or both.

Returns: new image.

◆ getBitsPerPixel()

unsigned int getBitsPerPixel ( ) const

returns the number of bits per pixel. This is the number of bits used per pixel per channel.

Returns: number of bits per pixel

◆ getColorEncoding()

ColorCode getColorEncoding ( ) const

inline

returns color encoding/type of this image

Returns: ColorCode of this image

◆ getDataSize()

size_t getDataSize ( ) const

returns the size of the char data array

Returns: size of char data array

◆ getHeight()

unsigned int getHeight ( ) const

returns the height of this image

Returns: image height

◆ getImageData() [1/2]

char* getImageData ( )

returns a char pointer to the image data

Returns: char pointer to the image data

◆ getImageData() [2/2]

const char* getImageData ( ) const

returns a char pointer to the image data

Returns: const char pointer to the image data

◆ getImageDimension()

std::pair<unsigned int, unsigned int> getImageDimension ( )

returns the dimensions (width and height) of this image

Returns: a pair of integers where first is the width and second is the height

◆ getNrOfChannels()

unsigned int getNrOfChannels ( ) const

inline

The number of channels that this image has.

Returns: nr of channels

◆ getPixel() [1/3]

Pixel4f getPixel	(	size_t	x,
		size_t	y
	)		const

inline

generic but inefficient access to pixel information. The float value is between [0;1] which means non float images are scaled according to their pixel depth (bits per pixel).

Parameters

x	[in] x coordinate
y	[in] y coordinate

Returns: up to 4 pixels (depends on nr of channels) in a float format

◆ getPixel() [2/3]

void getPixel	(	size_t	x,
		size_t	y,
		Pixel4f &	dst
	)		const

generic but inefficient access to pixel information. The float value is between [0;1] which means non float images are scaled according to their pixel depth (bits per pixel).

Parameters

x	[in] x coordinate
y	[in] y coordinate
dst	[out] up to 4 pixels (depends on nr of channels) in a float format

◆ getPixel() [3/3]

void getPixel	(	size_t	x,
		size_t	y,
		Pixel4i &	dst
	)		const

generic access to pixel information, however user must take care of the pixel depth himself. If image is a Depth8U then the maximum value is 254. Also float images are scaled accordingly.

Parameters

x	[in] x coordinate
y	[in] y coordinate
dst	[out] up to 4 pixels (depends on nr of channels) in a float format

◆ getPixelDepth()

PixelDepth getPixelDepth ( ) const

inline

bits per pixel encoded as a PixelDepth type.

Returns: the pixel depth

◆ getPixeli()

Pixel4i getPixeli	(	size_t	x,
		size_t	y
	)		const

generic access to pixel information, however user must take care of the pixel depth himself. If image is a Depth8U then the maximum value is 254. Also float images are scaled accordingly.

Parameters

x	[in] x coordinate
y	[in] y coordinate

Returns: up to 4 pixels (depends on nr of channels) as ints

◆ getPixelValue()

float getPixelValue	(	size_t	x,
		size_t	y,
		size_t	channel
	)		const

inline

generic but inefficient access to a specific channel of a pixel.

Parameters

x	[in]
y	[in]
channel	documentation missing !

Returns: the pixel value.

◆ getWidth()

unsigned int getWidth ( ) const

returns the width of this image

Returns: image width

◆ getWidthStep()

unsigned int getWidthStep ( ) const

inline

the size of an aligned image row in bytes. This may not be the same as the width if extra bytes are padded to each row for alignment purposes.

Returns: size of aligned image row

◆ resize()

void resize	(	unsigned int	width,
		unsigned int	height
	)

resizes the current image.

Parameters

width	[in] width in pixels
height	[in] height in pixels

◆ saveAsPGM()

bool saveAsPGM ( const std::string & fileName ) const

saves this image to a file in the PGM (grayscale) format

Parameters

fileName [in] the name of the file that is to be created

Returns: true if save was succesfull, false otherwise

◆ saveAsPGMAscii()

bool saveAsPGMAscii ( const std::string & fileName ) const

saves this image to a file in the ascii PGM (grayscale) format

Parameters

fileName [in] the name of the file that is to be created

Returns: true if save was succesfull, false otherwise

◆ saveAsPPM()

bool saveAsPPM ( const std::string & fileName ) const

saves this image to a file in the PPM (color) format

Parameters

fileName [in] the name of the file that is to be created

Returns: true if save was succesfull, false otherwise

◆ setPixel8U()

void setPixel8U	(	const int	x,
		const int	y,
		uint8_t	value
	)

inline

sets the gray tone in a 1-channel gray tone image with

Parameters

x
y
value

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

sensor/Image.hpp

Classes

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ ColorCode

◆ PixelDepth

Constructor & Destructor Documentation

◆ Image() [1/2]

◆ Image() [2/2]

Member Function Documentation

◆ copyFlip()

◆ getBitsPerPixel()

◆ getColorEncoding()

◆ getDataSize()

◆ getHeight()

◆ getImageData() [1/2]

◆ getImageData() [2/2]

◆ getImageDimension()

◆ getNrOfChannels()

◆ getPixel() [1/3]

◆ getPixel() [2/3]

◆ getPixel() [3/3]

◆ getPixelDepth()

◆ getPixeli()

◆ getPixelValue()

◆ getWidth()

◆ getWidthStep()

◆ resize()

◆ saveAsPGM()

◆ saveAsPGMAscii()

◆ saveAsPPM()

◆ setPixel8U()