Image.h

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// The MIT License (MIT)
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#pragma once

#include <vector>
#include <memory>
#include <Eigen/Core>

#include <Open3D/Geometry/Geometry2D.h>
#include <Open3D/Utility/Console.h>

namespace open3d {

namespace camera {
class PinholeCameraIntrinsic;
}

namespace geometry {

class Image : public Geometry2D {
public:
    enum class ColorToIntensityConversionType {
        Equal,
        Weighted,
    };

    enum class FilterType {
        Gaussian3,
        Gaussian5,
        Gaussian7,
        Sobel3Dx,
        Sobel3Dy
    };

public:
    Image() : Geometry2D(Geometry::GeometryType::Image){};
    ~Image() override{};

public:
    void Clear() override;
    bool IsEmpty() const override;
    Eigen::Vector2d GetMinBound() const override;
    Eigen::Vector2d GetMaxBound() const override;
    bool TestImageBoundary(double u, double v, double inner_margin = 0.0) const;

public:
    virtual bool HasData() const {
        return width_ > 0 && height_ > 0 &&
               data_.size() == height_ * BytesPerLine();
    }

    void PrepareImage(int width,
                      int height,
                      int num_of_channels,
                      int bytes_per_channel) {
        width_ = width;
        height_ = height;
        num_of_channels_ = num_of_channels;
        bytes_per_channel_ = bytes_per_channel;
        AllocateDataBuffer();
    }

    int BytesPerLine() const {
        return width_ * num_of_channels_ * bytes_per_channel_;
    }

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

protected:
    void AllocateDataBuffer() {
        data_.resize(width_ * height_ * num_of_channels_ * bytes_per_channel_);
    }

public:
    int width_ = 0;
    int height_ = 0;
    int num_of_channels_ = 0;
    int bytes_per_channel_ = 0;
    std::vector<uint8_t> data_;
};

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

std::shared_ptr<Image> CreateFloatImageFromImage(
        const Image &image,
        Image::ColorToIntensityConversionType type =
                Image::ColorToIntensityConversionType::Weighted);

template <typename T>
T *PointerAt(const Image &image, int u, int v);

template <typename T>
T *PointerAt(const Image &image, int u, int v, int ch);

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

std::shared_ptr<Image> FlipImage(const Image &input);

std::shared_ptr<Image> FilterImage(const Image &input, Image::FilterType type);

std::shared_ptr<Image> FilterImage(const Image &input,
                                   const std::vector<double> &dx,
                                   const std::vector<double> &dy);

std::shared_ptr<Image> FilterHorizontalImage(const Image &input,
                                             const std::vector<double> &kernel);

std::shared_ptr<Image> DownsampleImage(const Image &input);

std::shared_ptr<Image> DilateImage(const Image &input,
                                   int half_kernel_size = 1);

void LinearTransformImage(Image &input,
                          double scale = 1.0,
                          double offset = 0.0);

void ClipIntensityImage(Image &input, double min = 0.0, double max = 1.0);

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

typedef std::vector<std::shared_ptr<Image>> ImagePyramid;

ImagePyramid FilterImagePyramid(const ImagePyramid &input,
                                Image::FilterType type);

ImagePyramid CreateImagePyramid(const Image &image,
                                size_t num_of_levels,
                                bool with_gaussian_filter = true);

std::shared_ptr<Image> CreateDepthBoundaryMask(
        const Image &depth_image_input,
        double depth_threshold_for_discontinuity_check = 0.1,
        int half_dilation_kernel_size_for_discontinuity_map = 3);

}  // namespace geometry
}  // namespace open3d