Open3D (C++ API)  0.17.0
Loading...
Searching...
No Matches
Image.h
Go to the documentation of this file.
1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <Eigen/Core>
11#include <memory>
12#include <vector>
13
16
17namespace open3d {
18
19namespace camera {
20class PinholeCameraIntrinsic;
21}
22
23namespace geometry {
24
25class Image;
26
28typedef std::vector<std::shared_ptr<Image>> ImagePyramid;
29
34class Image : public Geometry2D {
35public:
45 Equal,
48 };
49
53 enum class FilterType {
64 };
65
66public:
69 ~Image() override {}
70
71public:
72 Image &Clear() override;
73 bool IsEmpty() const override;
74 Eigen::Vector2d GetMinBound() const override;
75 Eigen::Vector2d GetMaxBound() const override;
76
85 bool TestImageBoundary(double u, double v, double inner_margin = 0.0) const;
86
87public:
89 virtual bool HasData() const {
90 return width_ > 0 && height_ > 0 &&
91 data_.size() == size_t(height_ * BytesPerLine());
92 }
93
96 int height,
97 int num_of_channels,
98 int bytes_per_channel) {
99 width_ = width;
100 height_ = height;
101 num_of_channels_ = num_of_channels;
102 bytes_per_channel_ = bytes_per_channel;
104 return *this;
105 }
106
108 int BytesPerLine() const {
110 }
111
117 std::pair<bool, double> FloatValueAt(double u, double v) const;
118
126 static std::shared_ptr<Image>
128 const camera::PinholeCameraIntrinsic &intrinsic);
129
131 std::shared_ptr<Image> CreateFloatImage(
134
136 template <typename T>
137 T *PointerAt(int u, int v) const;
138
140 template <typename T>
141 T *PointerAt(int u, int v, int ch) const;
142
145 template <class T>
146 T *PointerAs() const {
147 if (sizeof(T) != bytes_per_channel_) {
148 utility::LogError("sizeof(T) != byte_per_channel_: {} != {}.",
149 sizeof(T), bytes_per_channel_);
150 }
151 return (T *)(data_.data());
152 }
153
154 std::shared_ptr<Image> ConvertDepthToFloatImage(
155 double depth_scale = 1000.0, double depth_trunc = 3.0) const;
156
157 std::shared_ptr<Image> Transpose() const;
158
160 std::shared_ptr<Image> FlipHorizontal() const;
162 std::shared_ptr<Image> FlipVertical() const;
163
165 std::shared_ptr<Image> Filter(Image::FilterType type) const;
166
168 std::shared_ptr<Image> Filter(const std::vector<double> &dx,
169 const std::vector<double> &dy) const;
170
171 std::shared_ptr<Image> FilterHorizontal(
172 const std::vector<double> &kernel) const;
173
175 std::shared_ptr<Image> Downsample() const;
176
178 std::shared_ptr<Image> Dilate(int half_kernel_size = 1) const;
179
182 Image &LinearTransform(double scale = 1.0, double offset = 0.0);
183
188 Image &ClipIntensity(double min = 0.0, double max = 1.0);
189
193 template <typename T>
194 std::shared_ptr<Image> CreateImageFromFloatImage() const;
195
197 static ImagePyramid FilterPyramid(const ImagePyramid &input,
199
201 ImagePyramid CreatePyramid(size_t num_of_levels,
202 bool with_gaussian_filter = true) const;
203
205 std::shared_ptr<Image> CreateDepthBoundaryMask(
206 double depth_threshold_for_discontinuity_check = 0.1,
207 int half_dilation_kernel_size_for_discontinuity_map = 3) const;
208
209protected:
213
214public:
216 int width_ = 0;
218 int height_ = 0;
224 std::vector<uint8_t> data_;
225};
226
227} // namespace geometry
228} // namespace open3d
Contains the pinhole camera intrinsic parameters.
Definition PinholeCameraIntrinsic.h:32
The base geometry class for 2D geometries.
Definition Geometry2D.h:22
The base geometry class.
Definition Geometry.h:18
GeometryType
Specifies possible geometry types.
Definition Geometry.h:23
The Image class stores image with customizable width, height, num of channels and bytes per channel.
Definition Image.h:34
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.
Definition Image.cpp:43
Image & Clear() override
Clear all elements in the geometry.
Definition Image.cpp:26
std::shared_ptr< Image > Downsample() const
Function to 2x image downsample using simple 2x2 averaging.
Definition Image.cpp:131
std::shared_ptr< Image > FilterHorizontal(const std::vector< double > &kernel) const
Definition Image.cpp:160
T * PointerAt(int u, int v) const
Function to access the raw data of a single-channel Image.
Definition Image.cpp:69
virtual bool HasData() const
Returns true if the Image has valid data.
Definition Image.h:89
std::shared_ptr< Image > FlipHorizontal() const
Function to flip image horizontally (from left to right).
Definition Image.cpp:294
bool IsEmpty() const override
Returns true iff the geometry is empty.
Definition Image.cpp:35
int bytes_per_channel_
Number of bytes per channel.
Definition Image.h:222
std::shared_ptr< Image > FlipVertical() const
Function to flip image vertically (upside down).
Definition Image.cpp:279
ImagePyramid CreatePyramid(size_t num_of_levels, bool with_gaussian_filter=true) const
Function to create image pyramid.
Definition ImageFactory.cpp:125
Eigen::Vector2d GetMaxBound() const override
Returns max bounds for geometry coordinates.
Definition Image.cpp:39
std::shared_ptr< Image > Transpose() const
Definition Image.cpp:250
FilterType
Specifies the Image filter type.
Definition Image.h:53
@ Gaussian3
Gaussian filter of size 3 x 3.
@ Gaussian5
Gaussian filter of size 5 x 5.
@ Sobel3Dx
Sobel filter along X-axis.
@ Sobel3Dy
Sobel filter along Y-axis.
@ Gaussian7
Gaussian filter of size 7 x 7.
std::vector< uint8_t > data_
Image storage buffer.
Definition Image.h:224
std::shared_ptr< Image > CreateImageFromFloatImage() const
Definition ImageFactory.cpp:104
void AllocateDataBuffer()
Definition Image.h:210
std::shared_ptr< Image > Filter(Image::FilterType type) const
Function to filter image with pre-defined filtering type.
Definition Image.cpp:197
ColorToIntensityConversionType
Specifies whether R, G, B channels have the same weight when converting to intensity....
Definition Image.h:43
@ Weighted
Weighted R, G, B channels: I = 0.299 * R + 0.587 * G + 0.114 * B.
@ Equal
R, G, B channels have equal weights.
std::shared_ptr< Image > ConvertDepthToFloatImage(double depth_scale=1000.0, double depth_trunc=3.0) const
Definition Image.cpp:89
std::shared_ptr< Image > CreateFloatImage(Image::ColorToIntensityConversionType type=Image::ColorToIntensityConversionType::Weighted) const
Return a gray scaled float type image.
Definition ImageFactory.cpp:44
int width_
Width of the image.
Definition Image.h:216
~Image() override
Definition Image.h:69
Image & LinearTransform(double scale=1.0, double offset=0.0)
Definition Image.cpp:118
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.
Definition Image.cpp:354
static std::shared_ptr< Image > CreateDepthToCameraDistanceMultiplierFloatImage(const camera::PinholeCameraIntrinsic &intrinsic)
Definition ImageFactory.cpp:14
Image & ClipIntensity(double min=0.0, double max=1.0)
Definition Image.cpp:104
int num_of_channels_
Number of channels in the image.
Definition Image.h:220
std::pair< bool, double > FloatValueAt(double u, double v) const
Definition Image.cpp:50
std::shared_ptr< Image > Dilate(int half_kernel_size=1) const
Function to dilate 8bit mask map.
Definition Image.cpp:320
int height_
Height of the image.
Definition Image.h:218
Image()
Default Constructor.
Definition Image.h:68
int BytesPerLine() const
Returns data size per line (row, or the width) in bytes.
Definition Image.h:108
Image & Prepare(int width, int height, int num_of_channels, int bytes_per_channel)
Prepare Image properties and allocate Image buffer.
Definition Image.h:95
T * PointerAs() const
Definition Image.h:146
static ImagePyramid FilterPyramid(const ImagePyramid &input, Image::FilterType type)
Function to filter image pyramid.
Definition Image.cpp:226
Eigen::Vector2d GetMinBound() const override
Returns min bounds for geometry coordinates.
Definition Image.cpp:37
int width
Definition FilePCD.cpp:52
int height
Definition FilePCD.cpp:53
int offset
Definition FilePCD.cpp:45
char type
Definition FilePCD.cpp:41
std::vector< std::shared_ptr< Image > > ImagePyramid
Typedef and functions for ImagePyramid.
Definition Image.h:28
Definition PinholeCameraIntrinsic.cpp:16