80 lines
2.4 KiB
C++
Executable File
80 lines
2.4 KiB
C++
Executable File
/*
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* Copyright 2017 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_IO_IMAGE_H_
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#define CARTOGRAPHER_IO_IMAGE_H_
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#include <cstdint>
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#include <vector>
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#include "cairo/cairo.h"
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#include "cartographer/common/port.h"
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#include "cartographer/io/color.h"
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#include "cartographer/io/file_writer.h"
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#include "cartographer/io/points_batch.h"
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namespace cartographer {
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namespace io {
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// The only cairo image format we use for Cartographer.
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constexpr cairo_format_t kCairoFormat = CAIRO_FORMAT_ARGB32;
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// std::unique_ptr for Cairo surfaces. The surface is destroyed when the
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// std::unique_ptr is reset or destroyed.
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using UniqueCairoSurfacePtr =
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std::unique_ptr<cairo_surface_t, void (*)(cairo_surface_t*)>;
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// Takes ownership.
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UniqueCairoSurfacePtr MakeUniqueCairoSurfacePtr(cairo_surface_t* surface);
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// std::unique_ptr for Cairo contexts.
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using UniqueCairoPtr = std::unique_ptr<cairo_t, void (*)(cairo_t*)>;
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// Takes ownership.
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UniqueCairoPtr MakeUniqueCairoPtr(cairo_t* surface);
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class Image {
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public:
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explicit Image(UniqueCairoSurfacePtr surface);
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Image(int width, int height);
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const Uint8Color GetPixel(int x, int y) const;
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void SetPixel(int x, int y, const Uint8Color& color);
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void WritePng(FileWriter* const file_writer);
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// Rotates the image in place.
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void Rotate90DegreesClockwise();
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// Returns a pointer to a cairo surface that contains the current pixel data.
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// The 'Image' object must therefore outlive the returned surface object. It
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// is undefined behavior to call any of the mutating functions while a pointer
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// to this surface is alive.
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UniqueCairoSurfacePtr GetCairoSurface();
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int width() const { return width_; }
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int height() const { return height_; }
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private:
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int width_;
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int height_;
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std::vector<uint32> pixels_;
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};
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_IMAGE_H_
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