image.h

Go to the documentation of this file.

/*
 * This file is part of the rc_genicam_api package.
 *
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Heiko Hirschmueller
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RC_GENICAM_API_IMAGE
#define RC_GENICAM_API_IMAGE

#include "buffer.h"

#include <memory>

namespace rcg
{

class Image
{
  public:

    Image(const Buffer *buffer);

    const uint8_t *getPixels() const { return pixel.get(); }

    uint64_t getTimestampNS() const { return timestamp; }

    size_t getWidth() const { return width; }
    size_t getHeight() const { return height; }
    size_t getXOffset() const { return xoffset; }
    size_t getYOffset() const { return yoffset; }
    size_t getXPadding() const { return xpadding; }
    size_t getYPadding() const { return ypadding; }
    uint64_t getFrameID() const { return frameid; }
    uint64_t getPixelFormat() const { return pixelformat; }
    bool isBigEndian() const { return bigendian; }

  private:

    Image(class Image &); // forbidden
    Image &operator=(const Image &); // forbidden

    std::unique_ptr<uint8_t []> pixel;

    uint64_t timestamp;
    size_t width;
    size_t height;
    size_t xoffset;
    size_t yoffset;
    size_t xpadding;
    size_t ypadding;
    uint64_t frameid;
    uint64_t pixelformat;
    bool bigendian;
};

void convYCbCr411toRGB(uint8_t rgb[3], const uint8_t *row, int i);

void convYCbCr411toQuadRGB(uint8_t rgb[12], const uint8_t *row, int i);

void getColor(uint8_t rgb[3], const std::shared_ptr<const rcg::Image> &img,
              uint32_t ds, uint32_t i, uint32_t k);

}

#endif