tpimage.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2011, Mårten Björkman (celle@csc.kth.se) 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are 00007 * met: 00008 * 00009 * 1.Redistributions of source code must retain the above copyright 00010 * notice, this list of conditions and the following disclaimer. 00011 * 2.Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * 3.The name of Mårten Björkman may not be used to endorse or 00016 * promote products derived from this software without specific 00017 * prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00020 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00021 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 00022 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 00023 * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 00024 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 00025 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 00026 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 00027 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00028 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00029 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef TPIMAGE_H 00033 #define TPIMAGE_H 00034 00035 #include <fstream> 00036 #include <iostream> 00037 #include <string> 00038 #include <cstring> 00039 #include <cassert> 00040 #include <typeinfo> 00041 #include <stdint.h> 00042 00043 00044 #include <sensor_msgs/Image.h> 00045 00046 typedef unsigned char uchar; 00047 00051 00052 template<class T> 00053 class Image { 00054 int width, height; 00055 T *image, *img; 00056 bool localalloc; 00057 public: 00059 00062 Image(int w, int h, T *ptr=NULL); 00063 // ~Image() { if (localalloc) delete [] img; } 00064 ~Image() { if (localalloc) free(img); } 00066 00068 void SetSize(int w, int h); 00070 00071 void SetData(T *ptr) { image = ptr; } 00073 00076 void SetDataAlign(T *ptr, int w, int h); 00078 00081 void SetDataAlign(const sensor_msgs::Image &img_msg, int w, int h, bool withColor = true); 00083 00084 bool Load(const char *filename); 00086 00087 bool LoadRGB(const char *filename); 00089 00092 void Store(const char *filename, bool norm = false, bool ascii =false) const; 00094 00095 void StoreRGB(const char *filename) const; 00097 00098 void StoreYUV(const char *filename) const; 00100 T *GetData() const { return image; } 00102 int GetWidth() const { return width; } 00104 int GetHeight() const { return height; } 00106 T *operator[](int i) { return &image[i*width]; } 00108 void operator=(Image<T> &src); 00109 }; 00110 00111 #endif // TPIMAGE_H