Image.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------

#pragma once

#include <memory>
#include <string>
#include <vector>

#include "open3d/core/Tensor.h"
#include "open3d/geometry/Image.h"
#include "open3d/t/geometry/Geometry.h"

namespace open3d {
namespace t {
namespace geometry {

class Image : public Geometry {
public:
    Image(int64_t rows = 0,
          int64_t cols = 0,
          int64_t channels = 1,
          core::Dtype dtype = core::Dtype::Float32,
          const core::Device &device = core::Device("CPU:0"));

    Image(const core::Tensor &tensor);

    virtual ~Image() override {}

public:
    Image &Clear() override {
        data_ = core::Tensor({0, 0, GetChannels()}, GetDtype(), GetDevice());
        return *this;
    }

    bool IsEmpty() const override {
        return GetRows() * GetCols() * GetChannels() == 0;
    }

public:
    int64_t GetRows() const { return data_.GetShape()[0]; }

    int64_t GetCols() const { return data_.GetShape()[1]; }

    int64_t GetChannels() const { return data_.GetShape()[2]; }

    core::Dtype GetDtype() const { return data_.GetDtype(); }

    core::Device GetDevice() const { return data_.GetDevice(); }

    core::Tensor At(int64_t r, int64_t c) const {
        if (GetChannels() == 1) {
            return data_[r][c][0];
        } else {
            return data_[r][c];
        }
    }

    core::Tensor At(int64_t r, int64_t c, int64_t ch) const {
        return data_[r][c][ch];
    }

    void *GetDataPtr() { return data_.GetDataPtr(); }

    const void *GetDataPtr() const { return data_.GetDataPtr(); }

    core::Tensor AsTensor() const { return data_; }

    core::Tensor GetMinBound() const {
        return core::Tensor::Zeros({2}, core::Dtype::Int64);
    };

    core::Tensor GetMaxBound() const {
        return core::Tensor(std::vector<int64_t>{GetRows(), GetCols()}, {2},
                            core::Dtype::Int64);
    };

    static Image FromLegacyImage(
            const open3d::geometry::Image &image_legacy,
            const core::Device &Device = core::Device("CPU:0"));

    open3d::geometry::Image ToLegacyImage() const;

    std::string ToString() const;

protected:
    core::Tensor data_;
};

}  // namespace geometry
}  // namespace t
}  // namespace open3d