Open3D (C++ API)  0.12.0
Image.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <memory>
31 #include <vector>
32 
34 #include "open3d/utility/Console.h"
35 
36 namespace open3d {
37 
38 namespace camera {
39 class PinholeCameraIntrinsic;
40 }
41 
42 namespace geometry {
43 
44 class Image;
45 
47 typedef std::vector<std::shared_ptr<Image>> ImagePyramid;
48 
53 class Image : public Geometry2D {
54 public:
64  Equal,
66  Weighted,
67  };
68 
72  enum class FilterType {
74  Gaussian3,
76  Gaussian5,
78  Gaussian7,
80  Sobel3Dx,
82  Sobel3Dy
83  };
84 
85 public:
88  ~Image() override {}
89 
90 public:
91  Image &Clear() override;
92  bool IsEmpty() const override;
93  Eigen::Vector2d GetMinBound() const override;
94  Eigen::Vector2d GetMaxBound() const override;
95 
104  bool TestImageBoundary(double u, double v, double inner_margin = 0.0) const;
105 
106 public:
108  virtual bool HasData() const {
109  return width_ > 0 && height_ > 0 &&
110  data_.size() == size_t(height_ * BytesPerLine());
111  }
112 
115  int height,
116  int num_of_channels,
117  int bytes_per_channel) {
118  width_ = width;
119  height_ = height;
120  num_of_channels_ = num_of_channels;
121  bytes_per_channel_ = bytes_per_channel;
122  AllocateDataBuffer();
123  return *this;
124  }
125 
127  int BytesPerLine() const {
128  return width_ * num_of_channels_ * bytes_per_channel_;
129  }
130 
136  std::pair<bool, double> FloatValueAt(double u, double v) const;
137 
145  static std::shared_ptr<Image>
146  CreateDepthToCameraDistanceMultiplierFloatImage(
147  const camera::PinholeCameraIntrinsic &intrinsic);
148 
150  std::shared_ptr<Image> CreateFloatImage(
152  Image::ColorToIntensityConversionType::Weighted) const;
153 
155  template <typename T>
156  T *PointerAt(int u, int v) const;
157 
159  template <typename T>
160  T *PointerAt(int u, int v, int ch) const;
161 
164  template <class T>
165  T *PointerAs() const {
166  if (sizeof(T) != bytes_per_channel_) {
167  utility::LogError("sizeof(T) != byte_per_channel_: {} != {}.",
168  sizeof(T), bytes_per_channel_);
169  }
170  return (T *)(data_.data());
171  }
172 
173  std::shared_ptr<Image> ConvertDepthToFloatImage(
174  double depth_scale = 1000.0, double depth_trunc = 3.0) const;
175 
176  std::shared_ptr<Image> Transpose() const;
177 
179  std::shared_ptr<Image> FlipHorizontal() const;
181  std::shared_ptr<Image> FlipVertical() const;
182 
184  std::shared_ptr<Image> Filter(Image::FilterType type) const;
185 
187  std::shared_ptr<Image> Filter(const std::vector<double> &dx,
188  const std::vector<double> &dy) const;
189 
190  std::shared_ptr<Image> FilterHorizontal(
191  const std::vector<double> &kernel) const;
192 
194  std::shared_ptr<Image> Downsample() const;
195 
197  std::shared_ptr<Image> Dilate(int half_kernel_size = 1) const;
198 
201  Image &LinearTransform(double scale = 1.0, double offset = 0.0);
202 
207  Image &ClipIntensity(double min = 0.0, double max = 1.0);
208 
212  template <typename T>
213  std::shared_ptr<Image> CreateImageFromFloatImage() const;
214 
216  static ImagePyramid FilterPyramid(const ImagePyramid &input,
217  Image::FilterType type);
218 
220  ImagePyramid CreatePyramid(size_t num_of_levels,
221  bool with_gaussian_filter = true) const;
222 
224  std::shared_ptr<Image> CreateDepthBoundaryMask(
225  double depth_threshold_for_discontinuity_check = 0.1,
226  int half_dilation_kernel_size_for_discontinuity_map = 3) const;
227 
228 protected:
230  data_.resize(width_ * height_ * num_of_channels_ * bytes_per_channel_);
231  }
232 
233 public:
235  int width_ = 0;
237  int height_ = 0;
239  int num_of_channels_ = 0;
241  int bytes_per_channel_ = 0;
243  std::vector<uint8_t> data_;
244 };
245 
246 } // namespace geometry
247 } // namespace open3d
std::vector< std::shared_ptr< Image > > ImagePyramid
Typedef and functions for ImagePyramid.
Definition: Image.h:44
The base geometry class.
Definition: Geometry.h:37
int offset
Definition: FilePCD.cpp:64
void LogError(const char *format, const Args &... args)
Definition: Console.h:176
Contains the pinhole camera intrinsic parameters.
Definition: PinholeCameraIntrinsic.h:51
Image & Prepare(int width, int height, int num_of_channels, int bytes_per_channel)
Prepare Image properties and allocate Image buffer.
Definition: Image.h:114
~Image() override
Definition: Image.h:88
T * PointerAs() const
Definition: Image.h:165
The base geometry class for 2D geometries.
Definition: Geometry2D.h:41
Image()
Default Constructor.
Definition: Image.h:87
virtual bool HasData() const
Returns true if the Image has valid data.
Definition: Image.h:108
void AllocateDataBuffer()
Definition: Image.h:229
char type
Definition: FilePCD.cpp:60
std::vector< uint8_t > data_
Image storage buffer.
Definition: Image.h:243
FilterType
Specifies the Image filter type.
Definition: Image.h:72
Definition: PinholeCameraIntrinsic.cpp:35
int BytesPerLine() const
Returns data size per line (row, or the width) in bytes.
Definition: Image.h:127
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:42
int height
Definition: FilePCD.cpp:72
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle image_handle timestamp_usec white_balance image_handle k4a_device_configuration_t config device_handle char size_t serial_number_size bool int32_t int32_t int32_t int32_t k4a_color_control_mode_t default_mode value const const k4a_calibration_t calibration char size_t
Definition: K4aPlugin.cpp:724
The Image class stores image with customizable width, height, num of channels and bytes per channel...
Definition: Image.h:53
ColorToIntensityConversionType
Specifies whether R, G, B channels have the same weight when converting to intensity. Only used for Image with 3 channels.
Definition: Image.h:62
int width
Definition: FilePCD.cpp:71