Image

This file introduces the supported image data structure in C++. It is an extension of OpenCV Mat, and also provides a way to convert between OpenCV Mat and Image.

Attributes

Here are attributes of class Image.

Attribute name	Type	Description
width	int	Image width in pixels
height	int	Image height in pixels
step_	int	Size of aligned image row in bytes
ts	int64_t	Image timestamp
stream_id	int64_t	Image stream index
format_	PixelFormat	Image format (e.g., RGB24, BGR24, RGBA, GRAY8)
storage_data_	std::shared_ptr	Pointer to image data

Besides the normal attributes for an image, it defines attributes like timestamp which is convenient for algorithms like SLAM.

Create an Image

Note that Image follows the order (width, height).

// create a color image with w=20 and h=10
Image img(20, 10, RGB24);

From Image to OpenCV

int width = 20;
int height = 10;
Image img(width, height, BGR24);

// Image to OpenCV
cv::Mat mat_warpper(img.height(), img.width(), CV_8UC3, img.mutable_data());

From OpenCV to Image

int width = 20;
int height = 10;
cv::Mat black = cv::Mat::zeros(height, width, CV_8UC3);
cv::imwrite("black.bmp", black);

// OpenCV to Image
Image i_black(black.cols, black.rows, black.step, BGR24, black.data);