Package org.robwork.sdurw_sensor

Class Image

java.lang.Object

org.robwork.sdurw_sensor.Image

public class Image
extends java.lang.Object

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.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Image.ColorCode	The color encodings that the image can use.
static class	Image.Pixel4i
static class	Image.PixelDepth	The pixeldepth determines how many bits that are used per pixel per channel

Constructor Summary

Constructors

Constructor	Description
Image()	default constructor
Image(long cPtr, boolean cMemoryOwn)
Image(long width, long height, Image.ColorCode encoding, Image.PixelDepth depth)	constructor
Image(java.lang.String imgData, long width, long height, Image.ColorCode encoding, Image.PixelDepth depth)	constructor

Method Summary

Modifier and Type	Method	Description
ImagePtr	copyFlip(boolean horizontal, boolean vertical)	copies this image and flips it around horizontal or vertical axis or both.
void	delete()
long	getBitsPerPixel()	returns the number of bits per pixel.
Image.ColorCode	getColorEncoding()	returns color encoding/type of this image
static long	getCPtr(Image obj)
long	getDataSize()	returns the size of the char data array
long	getHeight()	returns the height of this image
java.lang.String	getImageData()	returns a char pointer to the image data
pair_ui_ui	getImageDimension()	returns the dimensions (width and height) of this image
long	getNrOfChannels()	The number of channels that this image has.
Pixel4f	getPixel(long x, long y)	generic but inefficient access to pixel information.
void	getPixel(long x, long y, Image.Pixel4i dst)	generic access to pixel information, however user must take care of the pixel depth himself.
void	getPixel(long x, long y, Pixel4f dst)	generic but inefficient access to pixel information.
Image.PixelDepth	getPixelDepth()	bits per pixel encoded as a PixelDepth type.
Pixel4f	getPixelf(long x, long y)
Image.Pixel4i	getPixeli(long x, long y)	generic access to pixel information, however user must take care of the pixel depth himself.
float	getPixelValue(long x, long y, long channel)	generic but inefficient access to a specific channel of a pixel.
float	getPixelValuef(long x, long y, long channel)
int	getPixelValuei(long x, long y, long channel)
long	getWidth()	returns the width of this image
long	getWidthStep()	the size of an aligned image row in bytes.
void	resize(long width, long height)	resizes the current image.
boolean	saveAsPGM(java.lang.String fileName)	saves this image to a file in the PGM (grayscale) format
boolean	saveAsPGMAscii(java.lang.String fileName)	saves this image to a file in the ascii PGM (grayscale) format
boolean	saveAsPPM(java.lang.String fileName)	saves this image to a file in the PPM (color) format
void	setImageData(java.lang.String data)	sets the data array of this image.
void	setPixel(long x, long y, Pixel4f value)
void	setPixel16S(int x, int y, SWIGTYPE_p_int16_t value)
void	setPixel16S(int x, int y, SWIGTYPE_p_int16_t ch0, SWIGTYPE_p_int16_t ch1, SWIGTYPE_p_int16_t ch2)
void	setPixel16S(int x, int y, SWIGTYPE_p_int16_t ch0, SWIGTYPE_p_int16_t ch1, SWIGTYPE_p_int16_t ch2, SWIGTYPE_p_int16_t ch3)
void	setPixel16U(int x, int y, int value)
void	setPixel16U(int x, int y, int ch0, int ch1, int ch2)
void	setPixel16U(int x, int y, int ch0, int ch1, int ch2, int ch3)
void	setPixel32F(int x, int y, float value)
void	setPixel32F(int x, int y, float ch0, float ch1, float ch2)
void	setPixel32F(int x, int y, float ch0, float ch1, float ch2, float ch3)
void	setPixel32S(int x, int y, SWIGTYPE_p_int32_t value)
void	setPixel32S(int x, int y, SWIGTYPE_p_int32_t ch0, SWIGTYPE_p_int32_t ch1, SWIGTYPE_p_int32_t ch2)
void	setPixel32S(int x, int y, SWIGTYPE_p_int32_t ch0, SWIGTYPE_p_int32_t ch1, SWIGTYPE_p_int32_t ch2, SWIGTYPE_p_int32_t ch3)
void	setPixel8S(int x, int y, SWIGTYPE_p_int8_t value)
void	setPixel8S(int x, int y, SWIGTYPE_p_int8_t ch0, SWIGTYPE_p_int8_t ch1, SWIGTYPE_p_int8_t ch2)
void	setPixel8S(int x, int y, SWIGTYPE_p_int8_t ch0, SWIGTYPE_p_int8_t ch1, SWIGTYPE_p_int8_t ch2, SWIGTYPE_p_int8_t ch3)
void	setPixel8U(int x, int y, short value)	sets the gray tone in a 1-channel gray tone image with
void	setPixel8U(int x, int y, short ch0, short ch1, short ch2)
void	setPixel8U(int x, int y, short ch0, short ch1, short ch2, short ch3)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Image

public Image(long cPtr,
             boolean cMemoryOwn)

Image

public Image()

default constructor

Image

public Image(long width,
             long height,
             Image.ColorCode encoding,
             Image.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

public Image(java.lang.String imgData,
             long width,
             long height,
             Image.ColorCode encoding,
             Image.PixelDepth depth)

constructor

Parameters:

imgData - [in] char pointer that points to an array of chars with
length width*height*(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

Method Detail

getCPtr

public static long getCPtr(Image obj)

delete

public void delete()

resize

public void resize(long width,
                   long height)

resizes the current image.

Parameters:

width - [in] width in pixels

height - [in] height in pixels

getImageData

public java.lang.String getImageData()

returns a char pointer to the image data

Returns:

char pointer to the image data

setImageData

public void setImageData(java.lang.String data)

sets the data array of this image. Make sure to
change the height and width accordingly.

getDataSize

public long getDataSize()

returns the size of the char data array

Returns:

size of char data array

getImageDimension

public pair_ui_ui 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

getWidth

public long getWidth()

returns the width of this image

Returns:

image width

getHeight

public long getHeight()

returns the height of this image

Returns:

image height

getColorEncoding

public Image.ColorCode getColorEncoding()

returns color encoding/type of this image

Returns:

ColorCode of this image

getBitsPerPixel

public long getBitsPerPixel()

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

Returns:

number of bits per pixel

saveAsPGM

public boolean saveAsPGM(java.lang.String fileName)

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

public boolean saveAsPGMAscii(java.lang.String fileName)

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

public boolean saveAsPPM(java.lang.String fileName)

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

getWidthStep

public long getWidthStep()

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

getPixelDepth

public Image.PixelDepth getPixelDepth()

bits per pixel encoded as a PixelDepth type.

Returns:

the pixel depth

getNrOfChannels

public long getNrOfChannels()

The number of channels that this image has.

Returns:

nr of channels

getPixel

public Pixel4f getPixel(long x,
                        long y)

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

getPixelf

public Pixel4f getPixelf(long x,
                         long y)

getPixel

public void getPixel(long x,
                     long y,
                     Pixel4f dst)

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

getPixeli

public Image.Pixel4i getPixeli(long x,
                               long y)

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

getPixel

public void getPixel(long x,
                     long y,
                     Image.Pixel4i dst)

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

getPixelValue

public float getPixelValue(long x,
                           long y,
                           long channel)

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

Parameters:

x - [in]

y - [in]

channel - documentation missing !

Returns:

the pixel value.

getPixelValuef

public float getPixelValuef(long x,
                            long y,
                            long channel)

getPixelValuei

public int getPixelValuei(long x,
                          long y,
                          long channel)

setPixel

public void setPixel(long x,
                     long y,
                     Pixel4f value)

setPixel8U

public void setPixel8U(int x,
                       int y,
                       short value)

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

Parameters:

x -

y -

value -

setPixel8U

public void setPixel8U(int x,
                       int y,
                       short ch0,
                       short ch1,
                       short ch2)

setPixel8U

public void setPixel8U(int x,
                       int y,
                       short ch0,
                       short ch1,
                       short ch2,
                       short ch3)

setPixel8S

public void setPixel8S(int x,
                       int y,
                       SWIGTYPE_p_int8_t value)

setPixel8S

public void setPixel8S(int x,
                       int y,
                       SWIGTYPE_p_int8_t ch0,
                       SWIGTYPE_p_int8_t ch1,
                       SWIGTYPE_p_int8_t ch2)

setPixel8S

public void setPixel8S(int x,
                       int y,
                       SWIGTYPE_p_int8_t ch0,
                       SWIGTYPE_p_int8_t ch1,
                       SWIGTYPE_p_int8_t ch2,
                       SWIGTYPE_p_int8_t ch3)

setPixel16U

public void setPixel16U(int x,
                        int y,
                        int value)

setPixel16U

public void setPixel16U(int x,
                        int y,
                        int ch0,
                        int ch1,
                        int ch2)

setPixel16U

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

setPixel16S

public void setPixel16S(int x,
                        int y,
                        SWIGTYPE_p_int16_t value)

setPixel16S

public void setPixel16S(int x,
                        int y,
                        SWIGTYPE_p_int16_t ch0,
                        SWIGTYPE_p_int16_t ch1,
                        SWIGTYPE_p_int16_t ch2)

setPixel16S

public void setPixel16S(int x,
                        int y,
                        SWIGTYPE_p_int16_t ch0,
                        SWIGTYPE_p_int16_t ch1,
                        SWIGTYPE_p_int16_t ch2,
                        SWIGTYPE_p_int16_t ch3)

setPixel32S

public void setPixel32S(int x,
                        int y,
                        SWIGTYPE_p_int32_t value)

setPixel32S

public void setPixel32S(int x,
                        int y,
                        SWIGTYPE_p_int32_t ch0,
                        SWIGTYPE_p_int32_t ch1,
                        SWIGTYPE_p_int32_t ch2)

setPixel32S

public void setPixel32S(int x,
                        int y,
                        SWIGTYPE_p_int32_t ch0,
                        SWIGTYPE_p_int32_t ch1,
                        SWIGTYPE_p_int32_t ch2,
                        SWIGTYPE_p_int32_t ch3)

setPixel32F

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

setPixel32F

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

setPixel32F

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

copyFlip

public ImagePtr copyFlip(boolean horizontal,
                         boolean vertical)

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

Returns:

new image.