C++ (Cpp) Image Examples

Example #1

File: inspect.cpp Project: RaresAmbrus/clams

cv::Mat3b Inspector::oniToCV(const openni_wrapper::Image& oni) const
{
  cv::Mat3b img(oni.getHeight(), oni.getWidth());
  uchar data[img.rows * img.cols * 3];
  oni.fillRGB(img.cols, img.rows, data);
  int i = 0;
  for(int y = 0; y < img.rows; ++y) {
    for(int x = 0; x < img.cols; ++x, i+=3) {
      img(y, x)[0] = data[i+2];
      img(y, x)[1] = data[i+1];
      img(y, x)[2] = data[i];
    }
  }
    
  return img;
}

Example #2

File: driver.cpp Project: Rbelder/saphari_final_review

  void OpenNINode::publishRgbImage(const openni_wrapper::Image& rgb_img, image_transport::CameraPublisher img_pub) const {
      sensor_msgs::ImagePtr rgb_msg = boost::make_shared<sensor_msgs::Image>();
      ros::Time time = ros::Time::now();
      rgb_msg->header.stamp    = time;
      rgb_msg->encoding        = enc::RGB8;
      rgb_msg->width           = depth_width_;
      rgb_msg->height          = depth_height_;
      rgb_msg->step            = rgb_msg->width * 3;
      rgb_msg->data.resize(rgb_msg->height * rgb_msg->step);

      rgb_img.fillRGB(rgb_msg->width, rgb_msg->height, reinterpret_cast<unsigned char*>(&rgb_msg->data[0]), rgb_msg->step);

      img_pub.publish(rgb_msg, getDepthCameraInfo(rgb_msg->width, rgb_msg->height, time, 1));
    }

Example #3

File: data_capture.cpp Project: caomw/SfM-4

void
DataCapture::saveRgb (const std::string &filename, const openni_wrapper::Image &image) const
{
  // get the meta data associated with the image
  xn::ImageMetaData& md = const_cast<xn::ImageMetaData&> (image.getMetaData());

/*  cout << "image data:" << endl;
	cout << " - size        = " << image.getWidth() << "x" << image.getHeight() << endl;
	cout << " - size (md)   = " << md.FullXRes() << "x" << md.FullYRes() << endl;
	cout << " - encoding    = " << image.getEncoding() << endl;
	cout << " - bytes/pixel = " << md.BytesPerPixel() << endl;
	cout << " - data size   = " << md.DataSize() << endl;
	cout << " - pixel format (enum) = " << md.PixelFormat() <<  endl;
*/

  // copy the rgb values in a buffer
  int width = image.getWidth(), height = image.getHeight();
  unsigned char* buffer = new unsigned char[width*height*3];
  image.fillRGB (width, height, buffer, width*3);

  cv::Mat img (height, width, CV_8UC3);

  // openCV saves color values in order BGR, so rearrange
  int idx = 0;
  for (int r = 0; r < height; ++r) {
    for (int c = 0; c < width; ++c, idx += 3) {
      img.data[idx+2] = buffer[idx];
      img.data[idx+1] = buffer[idx+1];
      img.data[idx]   = buffer[idx+2];
    }
  }

  // save as PNG image
  cv::imwrite(filename + "_rgb.png", img);

  // std::cout << "RGB image saved as PNG to " << filename << "_rgb.png" << std::endl;
}