The Image class stores image with customizable width, height, num of channels and bytes per channel. More...

#include <Image.h>

Inheritance diagram for open3d::geometry::Image:

Public Types
enum	ColorToIntensityConversionType { ColorToIntensityConversionType::Equal, ColorToIntensityConversionType::Weighted }
	Specifies whether R, G, B channels have the same weight when converting to intensity. Only used for Image with 3 channels. More...

enum	FilterType { FilterType::Gaussian3, FilterType::Gaussian5, FilterType::Gaussian7, FilterType::Sobel3Dx, FilterType::Sobel3Dy }
	Specifies the Image filter type. More...

Public Types inherited from open3d::geometry::Geometry
enum	GeometryType { GeometryType::Unspecified = 0, GeometryType::PointCloud = 1, GeometryType::VoxelGrid = 2, GeometryType::Octree = 3, GeometryType::LineSet = 4, GeometryType::MeshBase = 5, GeometryType::TriangleMesh = 6, GeometryType::HalfEdgeTriangleMesh = 7, GeometryType::Image = 8, GeometryType::RGBDImage = 9, GeometryType::TetraMesh = 10, GeometryType::OrientedBoundingBox = 11, GeometryType::AxisAlignedBoundingBox = 12 }
	Specifies possible geometry types. More...

Public Member Functions
	Image ()
	Default Constructor. More...

	~Image () override

Image &	Clear () override
	Clear all elements in the geometry. More...

bool	IsEmpty () const override
	Returns `true` iff the geometry is empty. More...

Eigen::Vector2d	GetMinBound () const override
	Returns min bounds for geometry coordinates. More...

Eigen::Vector2d	GetMaxBound () const override
	Returns max bounds for geometry coordinates. More...

bool	TestImageBoundary (double u, double v, double inner_margin=0.0) const
	Test if coordinate `(u, v)` is located in the inner_marge of the image. More...

virtual bool	HasData () const
	Returns `true` if the Image has valid data. More...

Image &	Prepare (int width, int height, int num_of_channels, int bytes_per_channel)
	Prepare Image properties and allocate Image buffer. More...

int	BytesPerLine () const
	Returns data size per line (row, or the width) in bytes. More...

std::pair< bool, double >	FloatValueAt (double u, double v) const

std::shared_ptr< Image >	CreateFloatImage (Image::ColorToIntensityConversionType type=Image::ColorToIntensityConversionType::Weighted) const
	Return a gray scaled float type image. More...

template<typename T >
T *	PointerAt (int u, int v) const
	Function to access the raw data of a single-channel Image. More...

template<typename T >
T *	PointerAt (int u, int v, int ch) const
	Function to access the raw data of a multi-channel Image. More...

std::shared_ptr< Image >	ConvertDepthToFloatImage (double depth_scale=1000.0, double depth_trunc=3.0) const

std::shared_ptr< Image >	Transpose () const

std::shared_ptr< Image >	FlipHorizontal () const
	Function to flip image horizontally (from left to right). More...

std::shared_ptr< Image >	FlipVertical () const
	Function to flip image vertically (upside down). More...

std::shared_ptr< Image >	Filter (Image::FilterType type) const
	Function to filter image with pre-defined filtering type. More...

std::shared_ptr< Image >	Filter (const std::vector< double > &dx, const std::vector< double > &dy) const
	Function to filter image with arbitrary dx, dy separable filters. More...

std::shared_ptr< Image >	FilterHorizontal (const std::vector< double > &kernel) const

std::shared_ptr< Image >	Downsample () const
	Function to 2x image downsample using simple 2x2 averaging. More...

std::shared_ptr< Image >	Dilate (int half_kernel_size=1) const
	Function to dilate 8bit mask map. More...

Image &	LinearTransform (double scale=1.0, double offset=0.0)

Image &	ClipIntensity (double min=0.0, double max=1.0)

template<typename T >
std::shared_ptr< Image >	CreateImageFromFloatImage () const

ImagePyramid	CreatePyramid (size_t num_of_levels, bool with_gaussian_filter=true) const
	Function to create image pyramid. More...

std::shared_ptr< Image >	CreateDepthBoundaryMask (double depth_threshold_for_discontinuity_check=0.1, int half_dilation_kernel_size_for_discontinuity_map=3) const
	Function to create a depthmap boundary mask from depth image. More...

Public Member Functions inherited from open3d::geometry::Geometry2D
	~Geometry2D () override

Public Member Functions inherited from open3d::geometry::Geometry
virtual	~Geometry ()

GeometryType	GetGeometryType () const
	Returns one of registered geometry types. More...

int	Dimension () const
	Returns whether the geometry is 2D or 3D. More...

std::string	GetName () const

void	SetName (const std::string &name)

Static Public Member Functions
static std::shared_ptr< Image >	CreateDepthToCameraDistanceMultiplierFloatImage (const camera::PinholeCameraIntrinsic &intrinsic)

static ImagePyramid	FilterPyramid (const ImagePyramid &input, Image::FilterType type)
	Function to filter image pyramid. More...

Data Fields
int	width_ = 0
	Width of the image. More...

int	height_ = 0
	Height of the image. More...

int	num_of_channels_ = 0
	Number of chanels in the image. More...

int	bytes_per_channel_ = 0
	Number of bytes per channel. More...

std::vector< uint8_t >	data_
	Image storage buffer. More...

Protected Member Functions
void	AllocateDataBuffer ()

Protected Member Functions inherited from open3d::geometry::Geometry2D
	Geometry2D (GeometryType type)
	Parameterized Constructor. More...

Protected Member Functions inherited from open3d::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

The Image class stores image with customizable width, height, num of channels and bytes per channel.

Member Enumeration Documentation

◆ ColorToIntensityConversionType

enum open3d::geometry::Image::ColorToIntensityConversionType

strong

Specifies whether R, G, B channels have the same weight when converting to intensity. Only used for Image with 3 channels.

When Weighted is used R, G, B channels are weighted according to the Digital ITU BT.601 standard: I = 0.299 * R + 0.587 * G + 0.114 * B.

Enumerator
Equal	R, G, B channels have equal weights.
Weighted	Weighted R, G, B channels: I = 0.299 * R + 0.587 * G + 0.114 * B.

◆ FilterType

enum open3d::geometry::Image::FilterType

strong

Specifies the Image filter type.

Enumerator
Gaussian3	Gaussian filter of size 3 x 3.
Gaussian5	Gaussian filter of size 5 x 5.
Gaussian7	Gaussian filter of size 7 x 7.
Sobel3Dx	Sobel filter along X-axis.
Sobel3Dy	Sobel filter along Y-axis.

Constructor & Destructor Documentation

◆ Image()

open3d::geometry::Image::Image ( )

inline

Default Constructor.

◆ ~Image()

open3d::geometry::Image::~Image ( )

inlineoverride

Member Function Documentation

◆ AllocateDataBuffer()

void open3d::geometry::Image::AllocateDataBuffer ( )

inlineprotected

◆ BytesPerLine()

int open3d::geometry::Image::BytesPerLine ( ) const

inline

Returns data size per line (row, or the width) in bytes.

◆ Clear()

Image & open3d::geometry::Image::Clear ( )

overridevirtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry2D.

◆ ClipIntensity()

Image & open3d::geometry::Image::ClipIntensity	(	double	min = `0.0`,
		double	max = `1.0`
	)

Function to clipping pixel intensities.

Parameters

min	is lower bound.
max	is upper bound.

◆ ConvertDepthToFloatImage()

std::shared_ptr< Image > open3d::geometry::Image::ConvertDepthToFloatImage	(	double	depth_scale = `1000.0`,
		double	depth_trunc = `3.0`
	)		const

◆ CreateDepthBoundaryMask()

std::shared_ptr< Image > open3d::geometry::Image::CreateDepthBoundaryMask	(	double	depth_threshold_for_discontinuity_check = `0.1`,
		int	half_dilation_kernel_size_for_discontinuity_map = `3`
	)		const

Function to create a depthmap boundary mask from depth image.

◆ CreateDepthToCameraDistanceMultiplierFloatImage()

std::shared_ptr< Image > open3d::geometry::Image::CreateDepthToCameraDistanceMultiplierFloatImage ( const camera::PinholeCameraIntrinsic & intrinsic )

static

Factory function to create a float image composed of multipliers that convert depth values into camera distances (ImageFactory.cpp) The multiplier function M(u,v) is defined as: M(u, v) = sqrt(1 + ((u - cx) / fx) ^ 2 + ((v - cy) / fy) ^ 2) This function is used as a convenient function for performance optimization in volumetric integration (see Core/Integration/TSDFVolume.h).

◆ CreateFloatImage()

std::shared_ptr< Image > open3d::geometry::Image::CreateFloatImage ( Image::ColorToIntensityConversionType type = Image::ColorToIntensityConversionType::Weighted ) const

Return a gray scaled float type image.

◆ CreateImageFromFloatImage()

template<typename T >

template std::shared_ptr< Image > open3d::geometry::Image::CreateImageFromFloatImage< uint16_t > ( ) const

Function to change data types of image crafted for specific usage such as single channel float image -> 8-bit RGB or 16-bit depth image.

◆ CreatePyramid()

ImagePyramid open3d::geometry::Image::CreatePyramid	(	size_t	num_of_levels,
		bool	with_gaussian_filter = `true`
	)		const

Function to create image pyramid.

◆ Dilate()

std::shared_ptr< Image > open3d::geometry::Image::Dilate ( int half_kernel_size = 1 ) const

Function to dilate 8bit mask map.

◆ Downsample()

std::shared_ptr< Image > open3d::geometry::Image::Downsample ( ) const

Function to 2x image downsample using simple 2x2 averaging.

◆ Filter() [1/2]

std::shared_ptr< Image > open3d::geometry::Image::Filter ( Image::FilterType type ) const

Function to filter image with pre-defined filtering type.

◆ Filter() [2/2]

std::shared_ptr< Image > open3d::geometry::Image::Filter	(	const std::vector< double > &	dx,
		const std::vector< double > &	dy
	)		const

Function to filter image with arbitrary dx, dy separable filters.

◆ FilterHorizontal()

std::shared_ptr< Image > open3d::geometry::Image::FilterHorizontal ( const std::vector< double > & kernel ) const

◆ FilterPyramid()

ImagePyramid open3d::geometry::Image::FilterPyramid	(	const ImagePyramid &	input,
		Image::FilterType	type
	)

static

Function to filter image pyramid.

◆ FlipHorizontal()

std::shared_ptr< Image > open3d::geometry::Image::FlipHorizontal ( ) const

Function to flip image horizontally (from left to right).

◆ FlipVertical()

std::shared_ptr< Image > open3d::geometry::Image::FlipVertical ( ) const

Function to flip image vertically (upside down).

◆ FloatValueAt()

std::pair< bool, double > open3d::geometry::Image::FloatValueAt	(	double	u,
		double	v
	)		const

Function to access the bilinear interpolated float value of a (single-channel) float image. Returns a tuple, where the first bool indicates if the u,v coordinates are within the image dimensions, and the second double value is the interpolated pixel value.

◆ GetMaxBound()

Eigen::Vector2d open3d::geometry::Image::GetMaxBound ( ) const

overridevirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry2D.

◆ GetMinBound()

Eigen::Vector2d open3d::geometry::Image::GetMinBound ( ) const

overridevirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry2D.

◆ HasData()

virtual bool open3d::geometry::Image::HasData ( ) const

inlinevirtual

Returns true if the Image has valid data.

◆ IsEmpty()

bool open3d::geometry::Image::IsEmpty ( ) const

overridevirtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry2D.

◆ LinearTransform()

Image & open3d::geometry::Image::LinearTransform	(	double	scale = `1.0`,
		double	offset = `0.0`
	)

Function to linearly transform pixel intensities image_new = scale * image + offset.

◆ PointerAt() [1/2]

template<typename T >

template uint16_t * open3d::geometry::Image::PointerAt< uint16_t >	(	int	u,
		int	v
	)		const

Function to access the raw data of a single-channel Image.

◆ PointerAt() [2/2]

template<typename T >

template uint16_t * open3d::geometry::Image::PointerAt< uint16_t >	(	int	u,
		int	v,
		int	ch
	)		const

Function to access the raw data of a multi-channel Image.

◆ Prepare()

Image& open3d::geometry::Image::Prepare	(	int	width,
		int	height,
		int	num_of_channels,
		int	bytes_per_channel
	)

inline

Prepare Image properties and allocate Image buffer.

◆ TestImageBoundary()

bool open3d::geometry::Image::TestImageBoundary	(	double	u,
		double	v,
		double	inner_margin = `0.0`
	)		const

Test if coordinate (u, v) is located in the inner_marge of the image.

Parameters

u	Coordinate along the width dimension.
v	Coordinate along the height dimension.
inner_margin	The inner margin from the image boundary.

Returns: Returns true if coordinate (u, v) is located in the inner_marge of the image.

◆ Transpose()

std::shared_ptr< Image > open3d::geometry::Image::Transpose ( ) const

Field Documentation

◆ bytes_per_channel_

int open3d::geometry::Image::bytes_per_channel_ = 0

Number of bytes per channel.

◆ data_

std::vector<uint8_t> open3d::geometry::Image::data_

Image storage buffer.

◆ height_

int open3d::geometry::Image::height_ = 0

Height of the image.

◆ num_of_channels_

int open3d::geometry::Image::num_of_channels_ = 0

Number of chanels in the image.

◆ width_

int open3d::geometry::Image::width_ = 0

Width of the image.

The documentation for this class was generated from the following files:

/home/yixing/repo/Open3D/src/Open3D/Geometry/Image.h
/home/yixing/repo/Open3D/src/Open3D/Geometry/Image.cpp
/home/yixing/repo/Open3D/src/Open3D/Geometry/ImageFactory.cpp

Public Types

Public Member Functions

Static Public Member Functions

Data Fields

Protected Member Functions

Detailed Description

Member Enumeration Documentation

◆ ColorToIntensityConversionType

◆ FilterType

Constructor & Destructor Documentation

◆ Image()

◆ ~Image()

Member Function Documentation

◆ AllocateDataBuffer()

◆ BytesPerLine()

◆ Clear()

◆ ClipIntensity()

◆ ConvertDepthToFloatImage()

◆ CreateDepthBoundaryMask()

◆ CreateDepthToCameraDistanceMultiplierFloatImage()

◆ CreateFloatImage()

◆ CreateImageFromFloatImage()

◆ CreatePyramid()

◆ Dilate()

◆ Downsample()

◆ Filter() [1/2]

◆ Filter() [2/2]

◆ FilterHorizontal()

◆ FilterPyramid()

◆ FlipHorizontal()

◆ FlipVertical()

◆ FloatValueAt()

◆ GetMaxBound()

◆ GetMinBound()

◆ HasData()

◆ IsEmpty()

◆ LinearTransform()

◆ PointerAt() [1/2]

◆ PointerAt() [2/2]

◆ Prepare()

◆ TestImageBoundary()

◆ Transpose()

Field Documentation

◆ bytes_per_channel_

◆ data_

◆ height_

◆ num_of_channels_

◆ width_