image.hh

一个机器人平台

// ==================================================================
// Filename:	Nimage.h
//
// Date:        01/11/95
// Author:      Neil Sumpter
//              (adpated from D.M.Sergeant)
// Description:
//	General image class, includes data storage, and 
//	display of image. Also uses stuff for live capture
//
//  Modified by ahoward 24 May 2001 to make top bit 'sticky'.
//  Once set, this bit can only be reset by 'clear'.
//
// $Id: image.hh,v 1.1 2002/10/27 21:46:13 rtv Exp $
// RTV
// ==================================================================

#ifndef _NIMAGE_CLASS_
#define _NIMAGE_CLASS_

#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "stage_types.hh"

class Nimage
{
public:
    int	width;
	int	height;
	
	unsigned char*   data;
	char*	win_title;

	Nimage();
	Nimage(unsigned char* array, int w,int h);
	Nimage(int w,int h);
	Nimage(Nimage*);

	inline	int	get_width(void)		{return width;}
	inline	int	get_height(void)	{return height;}
	inline	int	get_size(void)		{return width*height;}

	// get a pixel color by its x,y coordinate
	inline unsigned char get_pixel(int x, int y)
	  { 
	    if (x<0 || x>=width || y<0 || y>=height) return 0;
	    return (char)data[x+(y*width)]; 
	  }
	
	// get a pixel color by its position in the array
	inline unsigned char get_pixel( int i)
	  { 
	    if( i<0 || i > width*height ) return 0;
	    return (char)data[i]; 
	  }

	inline void set_pixel(int x, int y, unsigned char c)
	  {
	    if (x<0 || x>=width || y<0 || y>=height) return;
        unsigned char *p = data + x + y * width;
        *p = (*p & 0x80) | c;
	  }
	
	inline	unsigned char *get_data(void)	{return data;}

  inline int count_pixels( void )
  {
    int count = 0;
    for( int p=0; p<width*height; p++ )
      if( data[p] ) count++;
    
    return count;
  }

  // sets the specified region to the color using a fast memset
  inline void fast_fill_rect( int x, int y, int w, int h, int col )
  {
    for( int a = y; a < y + h; a++ )
      memset( data + (a * width + x), col, w );
  }

	void	copy_from(Nimage* img);

	int N_draw_big;
	void	draw_big(void);
	void	draw_small(void);
	void    bgfill( int x, int y, unsigned char col );
	void	draw_box(int,int,int,int,unsigned char);
	void	draw_circle(int x,int y,int r,unsigned char c);
	void	draw_line(int x1,int y1,int x2,int y2,unsigned char c);

	// new 1 Dec 2000 - RTV
	void	draw_rect( const Rect t, unsigned char c);

	//void	draw_line_detect(int x1,int y1,int x2,int y2,int c);	
	unsigned char line_detect(int x1,int y1,int x2,int y2);
	unsigned char rect_detect( const Rect& r);

	void	clear(unsigned char i);
	void	save_image_as_ppm(char*,char*);
	void	save_raw(char* fname);
	void	load_raw(char* fname);
	bool	load_pnm(const char* fname);
    bool	load_pnm_gz(const char* fname);
    bool    load_fig(const char* filename, double ppm, double scale);
    bool    load_fig_polyline(FILE *file, char *line, int size, double scale);

    
	~Nimage(void);
};



#endif