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Image.hh
Go to the documentation of this file.00001 /* 00002 * Gazebo - Outdoor Multi-Robot Simulator 00003 * Copyright (C) 2003 00004 * Nate Koenig & Andrew Howard 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /* Desc: Useful image class 00022 * Author: Andrew Howard 00023 * Date: 22 May 2004 00024 * CVS: $Id: Image.hh,v 1.3 2004/11/11 16:36:28 natepak Exp $ 00025 */ 00026 00027 #ifndef GZIMAGE_H_ 00028 #define GZIMAGE_H_ 00029 00030 #include <stdint.h> 00031 #include "GL/gl.h" 00032 00033 // compute linear index for given map coords 00034 #define MAP_IDX(mf, i, j) ((mf->size_x) * (j) + (i)) 00035 00036 // Useful image class; uses GL enums to make rendering easy 00037 class GzImage 00038 { 00039 // Constructors/destructors 00040 public: GzImage(); 00041 public: virtual ~GzImage(); 00042 00047 public: int Set(int width, int height, const uint8_t *data); 00048 00050 public: int Load(const char *filename); 00051 00052 // Image dimensions 00053 public: int width, height; 00054 00055 // Number of color components (1, 2, 3 or 4) 00056 public: int components; 00057 00058 // Image format (e.g., GL_RGB, GL_RGBA) 00059 public: int format; 00060 00061 // Data type (e.g., GL_UNSIGNED_BYTE) 00062 public: int type; 00063 00064 // Image data 00065 public: int size; 00066 public: uint8_t *data; 00067 }; 00068 00069 00070 00071 #endif 00072
