bool AUX_RGBImageRec::loadFile(const char* Filename)
{
BITMAPINFO BMInfo; // need the current OpenGL device contexts in order to make use of windows DIB utilities
const HDC gldc = wglGetCurrentDC(); // a handle for the current OpenGL Device Contexts
// assume there are errors until file is loaded successfully into memory
NoErrors = false; // release old data since this object could be used to load multiple Textures
if(data != NULL) delete data; // windows needs this info to determine what header info we are looking for
BMInfo.bmiHeader.biSize = sizeof(BITMAPINFOHEADER); // Get windows to determine color bit depth in the file for us
BMInfo.bmiHeader.biBitCount = 0; // Get windows to open and load the BMP file and handle the messy decompression if the file is compressed
// assume perfect world and no errors in reading file, Ha Ha
HANDLE DIBHandle = LoadImage(0,Filename, IMAGE_BITMAP, 0, 0,LR_DEFAULTCOLOR | LR_CREATEDIBSECTION | LR_LOADFROMFILE); // use windows to get header info of bitmap - assume no errors in header format
GetDIBits(gldc, (HBITMAP)DIBHandle, 0,0, NULL, &BMInfo, DIB_RGB_COLORS);
sizeX = BMInfo.bmiHeader.biWidth;
sizeY = BMInfo.bmiHeader.biHeight; // change color depth to 24 bits (3 bytes (BGR) / pixel)
BMInfo.bmiHeader.biBitCount = 24; // don't want the data compressed
BMInfo.bmiHeader.biCompression = BI_RGB;
const DWORD BitmapLength = sizeX * sizeY * 3; // 3 bytes (BGR) per pixel (24bp)
// allocate enough memory to hold the pixel data in client memory
data = new byte[BitmapLength]; // Get windows to do the dirty work of converting the BMP into the format needed by OpenGL
// if file is already 24 bit color then this is a waste of time but makes for short code
// Get the actual Texel data from the BMP object
if (GetDIBits(gldc, (HBITMAP)DIBHandle, 0, sizeY, data, &BMInfo, DIB_RGB_COLORS))
{
NoErrors = true;
convertBGRtoRGB(); // NOTE: BMP is in BGR format but OpenGL needs RGB unless you use GL_BGR_EXT
}
DeleteObject(DIBHandle); // don't need the BMP Object anymore
return NoErrors;
}
void QNode::imageCallback2(const sensor_msgs::ImageConstPtr& msg)
{
QImage::Format format = QImage::Format_Indexed8;
unsigned char *newData = 0;
if(msg->encoding == "bgr8") {
format = QImage::Format_RGB888;
newData = convertBGRtoRGB(&msg->data[0], msg->step * msg->height);
}
if(msg->encoding == "rgb8")
format = QImage::Format_RGB888;
if(msg->encoding == "mono16")
ROS_WARN("The OCS does not currently support 16bpp images. This image topic will not render correctly.");
QImage img(msg->encoding == "bgr8" ? newData : &msg->data[0],
msg->width,
msg->height,
msg->step,
format);
if(!pthread_mutex_trylock(&m_imageMutex))
{
if(m_firewireImage2.convertFromImage(img))
{
emit newImage2();
}
pthread_mutex_unlock(&m_imageMutex);
}
if(newData != 0)
delete newData;
}
