Base class for storing images. More...

#include <yarp/sig/Image.h>

Inheritance diagram for yarp::sig::Image:

Public Member Functions
	Image ()
	Default constructor. More...

	Image (const Image &alt)
	Copy constructor. More...

	Image (Image &&other) noexcept
	Move constructor. More...

Image &	operator= (const Image &alt)
	Assignment operator. More...

Image &	operator= (Image &&other) noexcept
	Move assignment operator. More...

	~Image () override
	Destructor. More...

bool	copy (const Image &alt)
	Copy operator. More...

bool	copy (const Image &alt, size_t w, size_t h)
	Scaled copy. More...

bool	move (Image &&alt) noexcept
	move operator. More...

bool	swap (Image &alt)
	swap operator. More...

size_t	width () const
	Gets width of image in pixels. More...

size_t	height () const
	Gets height of image in pixels. More...

virtual size_t	getPixelSize () const
	Gets pixel size in memory in bytes. More...

virtual int	getPixelCode () const
	Gets pixel type identifier. More...

size_t	getRowSize () const
	Size of the underlying image buffer rows. More...

size_t	getQuantum () const
	The size of a row is constrained to be a multiple of the "quantum". More...

size_t	getPadding () const
	Returns the number of padding bytes. More...

unsigned char *	getRow (size_t r)
	Get the address of a the first byte of a row in memory. More...

const unsigned char *	getRow (size_t r) const
	Get the address of a the first byte of a row in memory, const versions. More...

unsigned char *	getPixelAddress (size_t x, size_t y) const
	Get address of a pixel in memory. More...

bool	isPixel (size_t x, size_t y) const
	Check whether a coordinate lies within the image. More...

void	zero ()
	Set all pixels to 0. More...

void	resize (size_t imgWidth, size_t imgHeight)
	Reallocate an image to be of a desired size, throwing away its current contents. More...

void	resize (const Image &alt)
	Reallocate the size of the image to match another, throwing away the actual content of the image. More...

void	setExternal (const void *data, size_t imgWidth, size_t imgHeight)
	Use this to wrap an external image. More...

unsigned char *	getRawImage () const
	Access to the internal image buffer. More...

size_t	getRawImageSize () const
	Access to the internal buffer size information (this is how much memory has been allocated for the image). More...

void *	getIplImage ()
	Returns IPL/OpenCV view of image, if possible. More...

const void *	getIplImage () const
	Returns IPL/OpenCV view of image, if possible. More...

void	wrapIplImage (void *iplImage)
	Act as a wrapper around an IPL/OpenCV image. More...

bool	read (yarp::os::ConnectionReader &connection) override
	Read image from a connection. More...

bool	write (yarp::os::ConnectionWriter &connection) const override
	Write image to a connection. More...

void	setQuantum (size_t imgQuantum)

bool	topIsLowIndex () const

void	setTopIsLowIndex (bool flag)
	control whether image has origin at top left (default) or bottom left. More...

char **	getRowArray ()
	Get an array of pointers to the rows of the image. More...

yarp::os::Type	getReadType () const override

Public Member Functions inherited from yarp::os::Portable
bool	read (ConnectionReader &reader) override=0
	Read this object from a network connection. More...

bool	write (ConnectionWriter &writer) const override=0
	Write this object to a network connection. More...

virtual Type	getType () const

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor. More...

virtual bool	read (ConnectionReader &reader)=0
	Read this object from a network connection. More...

virtual Type	getReadType () const

Public Member Functions inherited from yarp::os::PortWriter
virtual	~PortWriter ()
	Destructor. More...

virtual bool	write (ConnectionWriter &writer) const =0
	Write this object to a network connection. More...

virtual void	onCompletion () const
	This is called when the port has finished all writing operations. More...

virtual void	onCommencement () const
	This is called when the port is about to begin writing operations. More...

virtual yarp::os::Type	getWriteType () const

Protected Member Functions
void	setPixelCode (int imgPixelCode)

void	setPixelSize (size_t imgPixelSize)

Additional Inherited Members
Static Public Member Functions inherited from yarp::os::Portable
static bool	copyPortable (const PortWriter &writer, PortReader &reader)
	Copy one portable to another, via writing and reading. More...

Detailed Description

Base class for storing images.

You actually want to use ImageOf or FlexImage. This is a minimal class, designed to be as interoperable as possible with other image classes in other libraries, particularly IPL-derived libraries such as OpenCV.

Definition at line 79 of file Image.h.

Constructor & Destructor Documentation

◆ Image() [1/3]

Image::Image ( )

Default constructor.

Creates an empty image.

Definition at line 411 of file Image.cpp.

◆ Image() [2/3]

Image::Image ( const Image & alt )

Copy constructor.

Clones the content of another image.

Parameters

alt	the image to clone

Definition at line 807 of file Image.cpp.

◆ Image() [3/3]

Image::Image ( Image && other )

noexcept

Move constructor.

Parameters

other the Image to be moved

Definition at line 813 of file Image.cpp.

◆ ~Image()

Image::~Image ( )

override

Destructor.

Definition at line 428 of file Image.cpp.

Member Function Documentation

◆ copy() [1/2]

bool Image::copy ( const Image & alt )

Copy operator.

Clones the content of another image.

Parameters

alt	the image to clone

Definition at line 837 of file Image.cpp.

◆ copy() [2/2]

bool Image::copy	(	const Image &	alt,
		size_t	w,
		size_t	h
	)

Scaled copy.

Clones the content of another image, and resizes in a fast but low-quality way.

Parameters

alt	the image to copy
w	target width for image
h	target height for image

Definition at line 918 of file Image.cpp.

◆ getIplImage() [1/2]

void * Image::getIplImage ( )

Returns IPL/OpenCV view of image, if possible.

Not possible if the image is the wrong size, with no padding. This method is currently not well documented.

Returns: pointer to an IplImage structure or nullptr

Definition at line 561 of file Image.cpp.

◆ getIplImage() [2/2]

const void * Image::getIplImage ( ) const

Returns IPL/OpenCV view of image, if possible.

Not possible if the image is the wrong size, with no padding. This method is currently not well documented.

Returns: pointer to an IplImage structure or nullptr

Definition at line 565 of file Image.cpp.

◆ getPadding()

size_t yarp::sig::Image::getPadding ( ) const

inline

Returns the number of padding bytes.

Returns: number of bytes of the row padding.

Definition at line 202 of file Image.h.

◆ getPixelAddress()

unsigned char * yarp::sig::Image::getPixelAddress	(	size_t	x,
		size_t	y
	)		const

inline

Get address of a pixel in memory.

Parameters

x	x coordinate
y	y coordinate

Returns: address of pixel in memory

Definition at line 237 of file Image.h.

◆ getPixelCode()

int Image::getPixelCode ( ) const

virtual

Gets pixel type identifier.

Images have an associated type identifier to permit automatic casting between different image types.

Returns: the image type identifier

Definition at line 441 of file Image.cpp.

◆ getPixelSize()

size_t Image::getPixelSize ( ) const

virtual

Gets pixel size in memory in bytes.

Returns: the size of the pixels stored in the image, in bytes

Reimplemented in yarp::sig::ImageOf< T >, yarp::sig::ImageOf< yarp::sig::PixelFloat >, yarp::sig::ImageOf< yarp::sig::PixelMono >, yarp::sig::ImageOf< yarp::sig::PixelRgb >, yarp::sig::ImageOf< PixelRgb >, yarp::sig::ImageOf< float >, yarp::sig::ImageOf< CellOccupancyData >, and yarp::sig::ImageOf< CellFlagData >.

Definition at line 436 of file Image.cpp.

◆ getQuantum()

size_t yarp::sig::Image::getQuantum ( ) const

inline

The size of a row is constrained to be a multiple of the "quantum".

Returns: size of the current quantum (0 means no constraint)

Definition at line 196 of file Image.h.

◆ getRawImage()

unsigned char * Image::getRawImage ( ) const

Access to the internal image buffer.

Returns: pointer to the internal image buffer.

Definition at line 542 of file Image.cpp.

◆ getRawImageSize()

size_t Image::getRawImageSize ( ) const

Access to the internal buffer size information (this is how much memory has been allocated for the image).

Returns: size of the internal buffer in bytes including padding.

Definition at line 551 of file Image.cpp.

◆ getReadType()

yarp::os::Type yarp::sig::Image::getReadType ( ) const

inlineoverridevirtual

Reimplemented from yarp::os::PortReader.

Definition at line 373 of file Image.h.

◆ getRow() [1/2]

unsigned char * yarp::sig::Image::getRow ( size_t r )

inline

Get the address of a the first byte of a row in memory.

Parameters

r	row number (starting from 0)

Returns: address of the r-th row

Definition at line 213 of file Image.h.

◆ getRow() [2/2]

const unsigned char * yarp::sig::Image::getRow ( size_t r ) const

inline

Get the address of a the first byte of a row in memory, const versions.

Parameters

r	row number (starting from 0)

Returns: address of the r-th row

Definition at line 225 of file Image.h.

◆ getRowArray()

char ** yarp::sig::Image::getRowArray ( )

inline

Get an array of pointers to the rows of the image.

Returns: an array of pointers to the rows of the image.

Definition at line 369 of file Image.h.

◆ getRowSize()

size_t yarp::sig::Image::getRowSize ( ) const

inline

Size of the underlying image buffer rows.

Returns: size of the underlying image buffer rows in bytes.

Definition at line 189 of file Image.h.

◆ height()

size_t yarp::sig::Image::height ( ) const

inline

Gets height of image in pixels.

Returns: the height of the image in pixels (0 if no image present)

Examples: imagemagick/main.cpp, and opencv/main.cpp.

Definition at line 169 of file Image.h.

◆ isPixel()

bool yarp::sig::Image::isPixel	(	size_t	x,
		size_t	y
	)		const

inline

Check whether a coordinate lies within the image.

Parameters

x	x coordinate
y	y coordinate

Returns: true iff there is a pixel at the given coordinate

Definition at line 247 of file Image.h.

◆ move()

bool Image::move ( Image && alt )

noexcept

move operator.

Moves the content of another image.

Parameters

alt	the image to move

Definition at line 875 of file Image.cpp.

◆ operator=() [1/2]

Image & Image::operator= ( const Image & alt )

Assignment operator.

Clones the content of another image.

Parameters

alt	the image to clone

Definition at line 828 of file Image.cpp.

◆ operator=() [2/2]

Image & Image::operator= ( Image && other )

noexcept

Move assignment operator.

Parameters

other the Image to be moved

Returns: this object

Definition at line 819 of file Image.cpp.

◆ read()

bool Image::read ( yarp::os::ConnectionReader & connection )

overridevirtual

Read image from a connection.

Returns: true iff image was read correctly

Implements yarp::os::Portable.

Definition at line 675 of file Image.cpp.

◆ resize() [1/2]

void yarp::sig::Image::resize ( const Image & alt )

inline

Reallocate the size of the image to match another, throwing away the actual content of the image.

Parameters

alt	the image whose size we should match.

Definition at line 272 of file Image.h.

◆ resize() [2/2]

void Image::resize	(	size_t	imgWidth,
		size_t	imgHeight
	)

Reallocate an image to be of a desired size, throwing away its current contents.

If the desired size is the same as the current size, then no reallocation is done. But the resulting image should always be assumed to have undefined content. To rescale an image, maintaining its content, see the Image::copy methods.

Parameters

imgWidth	the desired width (the number of possible x values)
imgHeight	the desired height (the number of possible y values)

Examples: imagemagick/main.cpp, and opencv/main.cpp.

Definition at line 453 of file Image.cpp.

◆ setExternal()

void Image::setExternal	(	const void *	data,
		size_t	imgWidth,
		size_t	imgHeight
	)

Use this to wrap an external image.

Make sure to that pixel type and padding quantum are synchronized (you can set these in the FlexImage class).

Definition at line 904 of file Image.cpp.

◆ setPixelCode()

void Image::setPixelCode ( int imgPixelCode )

protected

Definition at line 491 of file Image.cpp.

◆ setPixelSize()

void Image::setPixelSize ( size_t imgPixelSize )

protected

Definition at line 483 of file Image.cpp.

◆ setQuantum()

void Image::setQuantum ( size_t imgQuantum )

Definition at line 502 of file Image.cpp.

◆ setTopIsLowIndex()

void Image::setTopIsLowIndex ( bool flag )

control whether image has origin at top left (default) or bottom left.

Parameters

flag	true if image has origin at top left (default), false if image has origin at bottom left.

Definition at line 512 of file Image.cpp.

◆ swap()

bool Image::swap ( Image & alt )

swap operator.

Swap the content with another image.

Parameters

alt	the image to swap with

Definition at line 889 of file Image.cpp.

◆ topIsLowIndex()

bool yarp::sig::Image::topIsLowIndex ( ) const

inline

Returns: true if image has origin at top left (default); in other words when the y index is low, we are near the top of the image.

Definition at line 350 of file Image.h.

◆ width()

size_t yarp::sig::Image::width ( ) const

inline

Gets width of image in pixels.

Returns: the width of the image in pixels (0 if no image present)

Examples: imagemagick/main.cpp, and opencv/main.cpp.

Definition at line 163 of file Image.h.

◆ wrapIplImage()

void Image::wrapIplImage ( void * iplImage )

Act as a wrapper around an IPL/OpenCV image.

The wrapped image needs to exist for the rest of the lifetime of this oboject. Be careful if you use this method on objects read from or written to a BufferedPort, since the lifetime of such objects can be longer than you expect (see the documentation for yarp::os::BufferedPort::read, yarp::os::BufferedPort::prepare, and yarp::os::BufferedPort::write).

Parameters

iplImage pointer to an IplImage structure

Definition at line 569 of file Image.cpp.

◆ write()

bool Image::write ( yarp::os::ConnectionWriter & connection ) const

overridevirtual

Write image to a connection.

Returns: true iff image was written correctly

Implements yarp::os::Portable.

Definition at line 786 of file Image.cpp.

◆ zero()

void Image::zero ( )

Set all pixels to 0.

Examples: opencv/main.cpp.

Definition at line 446 of file Image.cpp.

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

src/libYARP_sig/src/yarp/sig/Image.h
src/libYARP_sig/src/yarp/sig/Image.copyPixels.cpp
src/libYARP_sig/src/yarp/sig/Image.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Image() [1/3]

◆ Image() [2/3]

◆ Image() [3/3]

◆ ~Image()

Member Function Documentation

◆ copy() [1/2]

◆ copy() [2/2]

◆ getIplImage() [1/2]

◆ getIplImage() [2/2]

◆ getPadding()

◆ getPixelAddress()

◆ getPixelCode()

◆ getPixelSize()

◆ getQuantum()

◆ getRawImage()

◆ getRawImageSize()

◆ getReadType()

◆ getRow() [1/2]

◆ getRow() [2/2]

◆ getRowArray()

◆ getRowSize()

◆ height()

◆ isPixel()

◆ move()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ read()

◆ resize() [1/2]

◆ resize() [2/2]

◆ setExternal()

◆ setPixelCode()

◆ setPixelSize()

◆ setQuantum()

◆ setTopIsLowIndex()

◆ swap()

◆ topIsLowIndex()

◆ width()

◆ wrapIplImage()

◆ write()

◆ zero()