Encapsulates an image. More...

#include <gz/common/common.hh>

Public Types
enum class	Channel { RED = 0 , GREEN = 1 , BLUE = 2 , ALPHA = 3 }
	Image channel. More...

enum	PixelFormatType { 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_BGGR8 , BAYER_GBRG8 , BAYER_GRBG8 , COMPRESSED_PNG , PIXEL_FORMAT_COUNT , COMPRESSED_JPEG }
	Pixel formats enumeration. More...

Public Member Functions
	Image (const std::string &_filename="")
	Constructor. More...

virtual	~Image ()
	Destructor. More...

math::Color	AvgColor () const
	Get the average color. More...

unsigned int	BPP () const
	Get the size of one pixel in bits. More...

std::vector< unsigned char >	ChannelData (Channel _channel) const
	Extract a single channel (red, green, blue, or alpha) from an RGB[A] image and return a single channel 8 bit image data. More...

std::vector< unsigned char >	Data () const
	Get the image as a data array. More...

void	Data (unsigned char **_data, unsigned int &_count) const
	Get the image as a data array. More...

std::string	Filename () const
	Get the full filename of the image. More...

unsigned int	Height () const
	Get the height. More...

int	Load (const std::string &_filename)
	Load an image. Return 0 on success. More...

math::Color	MaxColor () const
	Get the max color. More...

int	Pitch () const

math::Color	Pixel (const unsigned int _x, const unsigned int _y) const
	Get a pixel color value. More...

PixelFormatType	PixelFormat () const
	Get the pixel format. More...

void	Rescale (const int _width, const int _height)
	Rescale the image. More...

std::vector< unsigned char >	RGBAData () const
	Get the RGBA data from the image. This will add an alpha channel if one is not present. More...

void	RGBAData (unsigned char **_data, unsigned int &_count) const
	Get the RGBA data from the image. This will add an alpha channel if one is not present. More...

std::vector< unsigned char >	RGBData () const
	Get only the RGB data from the image. This will drop the alpha channel if one is present. More...

void	RGBData (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. More...

void	SavePNG (const std::string &_filename)
	Save the image in PNG format. More...

void	SavePNGToBuffer (std::vector< unsigned char > &_buffer)
	Get the PNG image in a buffer. More...

void	SetFromCompressedData (unsigned char *_data, unsigned int _size, Image::PixelFormatType _format)
	Set the image from compressed (i.e. png) data. More...

void	SetFromData (const unsigned char *_data, unsigned int _width, unsigned int _height, Image::PixelFormatType _format)
	Set the image from raw data. More...

bool	Valid () const
	Returns whether this is a valid image. More...

unsigned int	Width () const
	Get the width. More...

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

template<typename T >
static void	ConvertToRGBImage (const void *_data, unsigned int _width, unsigned int _height, Image &_output, T _min=std::numeric_limits< T >::max(), T _max=std::numeric_limits< T >::lowest(), bool _flip=false)
	Convert a single channel image data buffer into an RGB image. During the conversion, the input image data are normalized to 8 bit values i.e. [0, 255]. Optionally, specify min and max values to use when normalizing the input image data. For example, if min and max are set to 1 and 10, a data value 2 will be normalized to: (2 - 1) / (10 - 1) * 255. More...

Detailed Description

Encapsulates an image.

Member Enumeration Documentation

◆ Channel

enum Channel

strong

Image channel.

Enumerator
RED	Red channel.
GREEN	Green channel.
BLUE	Blue channel.
ALPHA	Alpha channel.

◆ PixelFormatType

enum PixelFormatType

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_BGGR8
BAYER_GBRG8
BAYER_GRBG8
COMPRESSED_PNG
PIXEL_FORMAT_COUNT
COMPRESSED_JPEG

Constructor & Destructor Documentation

◆ Image()

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

explicit

Constructor.

Parameters

[in] _filename the path to the image

◆ ~Image()

virtual ~Image ( )

virtual

Destructor.

Member Function Documentation

◆ AvgColor()

math::Color AvgColor ( ) const

Get the average color.

Returns: The average color

◆ BPP()

unsigned int BPP ( ) const

Get the size of one pixel in bits.

Returns: The BPP of the image

◆ ChannelData()

std::vector<unsigned char> ChannelData ( Channel _channel ) const

Extract a single channel (red, green, blue, or alpha) from an RGB[A] image and return a single channel 8 bit image data.

Parameters

[in] _channel Channel to extract

Returns: 8 bit single channel image data

◆ ConvertPixelFormat()

static Image::PixelFormatType 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

◆ ConvertToRGBImage()

static void ConvertToRGBImage	(	const void *	_data,
		unsigned int	_width,
		unsigned int	_height,
		Image &	_output,
		T	_min = `std::numeric_limits<T>::max()`,
		T	_max = `std::numeric_limits<T>::lowest()`,
		bool	_flip = `false`
	)

inlinestatic

Convert a single channel image data buffer into an RGB image. During the conversion, the input image data are normalized to 8 bit values i.e. [0, 255]. Optionally, specify min and max values to use when normalizing the input image data. For example, if min and max are set to 1 and 10, a data value 2 will be normalized to: (2 - 1) / (10 - 1) * 255.

Parameters

[in]	_data	input image data buffer
[in]	_width	image width
[in]	_height	image height
[out]	_output	Output RGB image
[in]	_min	Minimum value to be used when normalizing the input image data to RGB.
[in]	_max	Maximum value to be used when normalizing the input image data to RGB.
[in]	_flip	True to flip the values after normalization, i.e. lower values are converted to brigher pixels.

References gz::math::equal(), std::isinf(), numeric_limits::lowest(), numeric_limits::max(), and Image::SetFromData().

◆ Data() [1/2]

std::vector<unsigned char> Data ( ) const

Get the image as a data array.

Returns: The image data

◆ Data() [2/2]

void Data	(	unsigned char **	_data,
		unsigned int &	_count
	)		const

Get the image as a data array.

Deprecated:: Use the function returning std::vector instead

Parameters

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

◆ Filename()

std::string Filename ( ) const

Get the full filename of the image.

Returns: The filename used to load the image

◆ Height()

unsigned int Height ( ) const

Get the height.

Returns: The image height

◆ Load()

int 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.

◆ MaxColor()

math::Color MaxColor ( ) const

Get the max color.

Returns: The max color

◆ Pitch()

int Pitch ( ) const

Returns: The pitch of the image

◆ Pixel()

math::Color Pixel	(	const unsigned int	_x,
		const 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()

PixelFormatType PixelFormat ( ) const

Get the pixel format.

Returns: PixelFormat

◆ Rescale()

void Rescale	(	const int	_width,
		const int	_height
	)

Rescale the image.

Parameters

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

◆ RGBAData() [1/2]

std::vector<unsigned char> RGBAData ( ) const

Get the RGBA data from the image. This will add an alpha channel if one is not present.

Returns: The image RGBA data

◆ RGBAData() [2/2]

void RGBAData	(	unsigned char **	_data,
		unsigned int &	_count
	)		const

Get the RGBA data from the image. This will add an alpha channel if one is not present.

Deprecated:: Use the function returning std::vector instead

Parameters

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

◆ RGBData() [1/2]

std::vector<unsigned char> RGBData ( ) const

Get only the RGB data from the image. This will drop the alpha channel if one is present.

Returns: The image RGB data

◆ RGBData() [2/2]

void RGBData	(	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.

Deprecated:: Use the function returning std::vector instead

Parameters

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

◆ SavePNG()

void SavePNG ( const std::string & _filename )

Save the image in PNG format.

Parameters

[in] _filename The name of the saved image

◆ SavePNGToBuffer()

void SavePNGToBuffer ( std::vector< unsigned char > & _buffer )

Get the PNG image in a buffer.

Parameters

[out] _buffer Buffer with the data

◆ SetFromCompressedData()

void SetFromCompressedData	(	unsigned char *	_data,
		unsigned int	_size,
		Image::PixelFormatType	_format
	)

Set the image from compressed (i.e. png) data.

Parameters

[in]	_data	Pointer to the raw image data
[in]	_size	Size of the buffer
[in]	_format	Pixel format of the provided data

◆ SetFromData()

void SetFromData	(	const unsigned char *	_data,
		unsigned int	_width,
		unsigned int	_height,
		Image::PixelFormatType	_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

Referenced by Image::ConvertToRGBImage().

◆ Valid()

bool Valid ( ) const

Returns whether this is a valid image.

Returns: true if image has a bitmap

◆ Width()

unsigned int Width ( ) const

Get the width.

Returns: The image width

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

gz/common/Image.hh

Gazebo Common

API Reference

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ Channel

◆ PixelFormatType

Constructor & Destructor Documentation

◆ Image()

◆ ~Image()

Member Function Documentation

◆ AvgColor()

◆ BPP()

◆ ChannelData()

◆ ConvertPixelFormat()

◆ ConvertToRGBImage()

◆ Data() [1/2]

◆ Data() [2/2]

◆ Filename()

◆ Height()

◆ Load()

◆ MaxColor()

◆ Pitch()

◆ Pixel()

◆ PixelFormat()

◆ Rescale()

◆ RGBAData() [1/2]

◆ RGBAData() [2/2]

◆ RGBData() [1/2]

◆ RGBData() [2/2]

◆ SavePNG()

◆ SavePNGToBuffer()

◆ SetFromCompressedData()

◆ SetFromData()

◆ Valid()

◆ Width()