Image#

image_processing.py#

 1# ----------------------------------------------------------------------------
 2# -                        Open3D: www.open3d.org                            -
 3# ----------------------------------------------------------------------------
 4# Copyright (c) 2018-2023 www.open3d.org
 5# SPDX-License-Identifier: MIT
 6# ----------------------------------------------------------------------------
 7
 8import numpy as np
 9import matplotlib.pyplot as plt
10import matplotlib.image as mpimg
11
12import open3d as o3d
13#conda install pillow matplotlib
14
15if __name__ == "__main__":
16
17    print("Testing image in open3d ...")
18    print("Convert an image to numpy")
19    sample_image = o3d.data.JuneauImage()
20    x = o3d.io.read_image(sample_image.path)
21    print(np.asarray(x))
22    print(
23        "Convert a numpy image to o3d.geometry.Image and show it with DrawGeomtries()."
24    )
25    y = mpimg.imread(sample_image.path)
26    print(y.shape)
27    yy = o3d.geometry.Image(y)
28    print(yy)
29    o3d.visualization.draw_geometries([yy])
30
31    print("Render a channel of the previous image.")
32    z = np.array(y[:, :, 1])
33    print(z.shape)
34    print(z.strides)
35    zz = o3d.geometry.Image(z)
36    print(zz)
37    o3d.visualization.draw_geometries([zz])
38
39    print("Write the previous image to file.")
40    o3d.io.write_image("test.jpg", zz, quality=100)
41
42    print("Testing basic image processing module.")
43    sample_image = o3d.data.JuneauImage()
44    im_raw = mpimg.imread(sample_image.path)
45    im = o3d.geometry.Image(im_raw)
46    im_g3 = im.filter(o3d.geometry.ImageFilterType.Gaussian3)
47    im_g5 = im.filter(o3d.geometry.ImageFilterType.Gaussian5)
48    im_g7 = im.filter(o3d.geometry.ImageFilterType.Gaussian7)
49    im_gaussian = [im, im_g3, im_g5, im_g7]
50    pyramid_levels = 4
51    pyramid_with_gaussian_filter = True
52    im_pyramid = im.create_pyramid(pyramid_levels, pyramid_with_gaussian_filter)
53    im_dx = im.filter(o3d.geometry.ImageFilterType.Sobel3dx)
54    im_dx_pyramid = o3d.geometry.Image.filter_pyramid(
55        im_pyramid, o3d.geometry.ImageFilterType.Sobel3dx)
56    im_dy = im.filter(o3d.geometry.ImageFilterType.Sobel3dy)
57    im_dy_pyramid = o3d.geometry.Image.filter_pyramid(
58        im_pyramid, o3d.geometry.ImageFilterType.Sobel3dy)
59    switcher = {
60        0: im_gaussian,
61        1: im_pyramid,
62        2: im_dx_pyramid,
63        3: im_dy_pyramid,
64    }
65    for i in range(4):
66        for j in range(pyramid_levels):
67            plt.subplot(4, pyramid_levels, i * 4 + j + 1)
68            plt.imshow(switcher.get(i)[j])
69    plt.show()