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...

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_