The Image class stores image with customizable width, height, num of channels and bytes per channel. More...

#include <Image.h>

Inheritance diagram for cloudViewer::geometry::Image:

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Collaboration diagram for cloudViewer::geometry::Image:

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Public Types
enum class	ColorToIntensityConversionType { Equal , Weighted }
	Specifies whether R, G, B channels have the same weight when converting to intensity. Only used for Image with 3 channels. More...

enum class	FilterType { Gaussian3 , Gaussian5 , Gaussian7 , Sobel3Dx , Sobel3Dy }
	Specifies the Image filter type. More...

Public Types inherited from ccHObject
enum	DEPENDENCY_FLAGS { DP_NONE = 0 , DP_NOTIFY_OTHER_ON_DELETE = 1 , DP_NOTIFY_OTHER_ON_UPDATE , DP_DELETE_OTHER = 8 , DP_PARENT_OF_OTHER = 24 }
	Dependency flags. More...

enum	SelectionBehavior { SELECTION_AA_BBOX , SELECTION_FIT_BBOX , SELECTION_IGNORED }
	Behavior when selected. More...

using	Container = std::vector< ccHObject * >
	Standard instances container (for children, etc.) More...

using	Shared = QSharedPointer< ccHObject >
	Shared pointer. More...

using	SharedContainer = std::vector< Shared >
	Shared instances container (for children, etc.) More...

using	GlobalBoundingBox = cloudViewer::BoundingBoxTpl< double >
	Global (non-shifted) bounding-box. More...

Public Types inherited from ccSerializableObject
enum	DeserializationFlags { DF_POINT_COORDS_64_BITS , DF_SCALAR_VAL_32_BITS = 2 }
	Deserialization flags (bit-field) More...

typedef QMultiMap< unsigned, unsigned >	LoadedIDMap
	Map of loaded unique IDs (old ID --> new ID) More...

Public Member Functions
	Image (const char *name="Image")
	Default Constructor. More...

	~Image () override

virtual bool	isSerializable () const override
	Returns whether object is serializable of not. More...

virtual CV_CLASS_ENUM	getClassID () const override
	Returns unique class ID. More...

virtual ccBBox	getOwnBB (bool withGLFeatures=false) override
	Returns the entity's own bounding-box. More...

Image &	Clear ()

virtual bool	IsEmpty () const override

virtual Eigen::Vector2d	GetMin2DBound () const override

virtual Eigen::Vector2d	GetMax2DBound () const override

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 ccHObject
	ccHObject (QString name=QString())
	Default constructor. More...

	ccHObject (const ccHObject &object)
	Copy constructor. More...

virtual	~ccHObject () override
	Default destructor. More...

virtual Eigen::Vector3d	GetMinBound () const
	Returns min bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetMaxBound () const
	Returns max bounds for geometry coordinates. More...

virtual Eigen::Vector3d	GetCenter () const
	Returns the center of the geometry coordinates. More...

virtual ccBBox	GetAxisAlignedBoundingBox () const
	Returns an axis-aligned bounding box of the geometry. More...

virtual ecvOrientedBBox	GetOrientedBoundingBox () const

virtual ccHObject &	Transform (const Eigen::Matrix4d &transformation)
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

virtual ccHObject &	Translate (const Eigen::Vector3d &translation, bool relative=true)
	Apply translation to the geometry coordinates. More...

virtual ccHObject &	Scale (const double s, const Eigen::Vector3d &center)
	Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is transformed according to . More...

virtual ccHObject &	Scale (const double s)

virtual ccHObject &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center)
	Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center , a given point is transformed according to . More...

virtual ccHObject &	Rotate (const Eigen::Matrix3d &R)

QString	getViewId () const

bool	isGroup () const
	Returns whether the instance is a group. More...

ccHObject *	getParent () const
	Returns parent object. More...

virtual QIcon	getIcon () const
	Returns the icon associated to this entity. More...

void	addDependency (ccHObject *otherObject, int flags, bool additive=true)
	Adds a new dependence (additive or not) More...

int	getDependencyFlagsWith (const ccHObject *otherObject)
	Returns the dependency flags with a given object. More...

void	removeDependencyWith (ccHObject *otherObject)
	Removes any dependency flags with a given object. More...

void	removeDependencyFlag (ccHObject *otherObject, DEPENDENCY_FLAGS flag)
	Removes a given dependency flag. More...

virtual bool	addChild (ccHObject *child, int dependencyFlags=DP_PARENT_OF_OTHER, int insertIndex=-1)
	Adds a child. More...

unsigned	getChildrenNumber () const
	Returns the number of children. More...

unsigned int	getChildCountRecursive () const
	Returns the total number of children under this object recursively. More...

ccHObject *	getChild (unsigned childPos) const
	Returns the ith child. More...

ccHObject *	find (unsigned uniqueID)
	Finds an entity in this object hierarchy. More...

unsigned	filterChildren (Container &filteredChildren, bool recursive=false, CV_CLASS_ENUM filter=CV_TYPES::OBJECT, bool strict=false) const
	Collects the children corresponding to a certain pattern. More...

void	detachChild (ccHObject *child)
	Detaches a specific child. More...

void	detachAllChildren ()
	Removes a specific child. More...

void	getTypeID_recursive (std::vector< removeInfo > &rmInfos, bool relative)

void	getTypeID_recursive (std::vector< hideInfo > &hdInfos, bool relative)

void	removeChild (ccHObject *child)

void	removeChild (int pos)
	Removes a specific child given its index. More...

void	removeAllChildren ()
	Removes all children. More...

int	getChildIndex (const ccHObject *aChild) const
	Returns child index. More...

void	swapChildren (unsigned firstChildIndex, unsigned secondChildIndex)
	Swaps two children. More...

int	getIndex () const
	Returns index relatively to its parent or -1 if no parent. More...

void	transferChild (ccHObject *child, ccHObject &newParent)
	Transfer a given child to another parent. More...

void	transferChildren (ccHObject &newParent, bool forceFatherDependent=false)
	Transfer all children to another parent. More...

ccHObject *	getFirstChild () const
	Shortcut: returns first child. More...

ccHObject *	getLastChild () const
	Shortcut: returns last child. More...

bool	isAncestorOf (const ccHObject *anObject) const
	Returns true if the current object is an ancestor of the specified one. More...

void	removeFromRenderScreen (bool recursive=true)

void	hideObject_recursive (bool recursive)

void	hideBB (CC_DRAW_CONTEXT context)

void	showBB (CC_DRAW_CONTEXT context)

void	setRedrawFlagRecursive (bool redraw=false)

void	setForceRedrawRecursive (bool redraw=false)

void	setPointSizeRecursive (int pSize)

void	setLineWidthRecursive (PointCoordinateType width)

virtual ccBBox	getBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the bounding-box of this entity and it's children. More...

virtual GlobalBoundingBox	getOwnGlobalBB (bool withGLFeatures=false)

virtual bool	getOwnGlobalBB (CCVector3d &minCorner, CCVector3d &maxCorner)

virtual GlobalBoundingBox	getGlobalBB_recursive (bool withGLFeatures=false, bool onlyEnabledChildren=true)
	Returns the global bounding-box of this entity and it's children. More...

virtual ccBBox	getDisplayBB_recursive (bool relative)
	Returns the bounding-box of this entity and it's children WHEN DISPLAYED. More...

virtual ccBBox	getOwnFitBB (ccGLMatrix &trans)
	Returns best-fit bounding-box (if available) More...

virtual void	drawBB (CC_DRAW_CONTEXT &context, const ecvColor::Rgb &col)
	Draws the entity (and its children) bounding-box. More...

void	draw (CC_DRAW_CONTEXT &context) override
	Draws entity and its children. More...

void	updateNameIn3DRecursive ()

void	setHideShowType (CC_DRAW_CONTEXT &context)

void	setRemoveType (CC_DRAW_CONTEXT &context)

ENTITY_TYPE	getEntityType () const

virtual void	redrawDisplay (bool forceRedraw=true, bool only2D=false)
	Redraws associated display. More...

bool	getAbsoluteGLTransformation (ccGLMatrix &trans) const

virtual bool	isDisplayed () const
	Returns whether the object is actually displayed (visible) or not. More...

virtual bool	isBranchEnabled () const
	Returns whether the object and all its ancestors are enabled. More...

virtual void	redrawDisplay_recursive (bool p)

virtual void	refreshDisplay_recursive (bool p)

virtual void	setSelected_recursive (bool p)

virtual void	toggleActivation_recursive ()

virtual void	toggleVisibility_recursive ()

virtual void	toggleColors_recursive ()

virtual void	resetGLTransformationHistory_recursive ()

virtual void	toggleNormals_recursive ()

virtual void	toggleSF_recursive ()

virtual void	toggleShowName_recursive ()

unsigned	findMaxUniqueID_recursive () const
	Returns the max 'unique ID' of this entity and its siblings. More...

void	applyGLTransformation_recursive (const ccGLMatrix *trans=nullptr)
	Applies the active OpenGL transformation to the entity (recursive) More...

virtual void	notifyGeometryUpdate ()

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Loads data from binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFileNoChildren (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
	Custom version of ccSerializableObject::fromFile. More...

virtual bool	isShareable () const
	Returns whether object is shareable or not. More...

virtual void	setSelectionBehavior (SelectionBehavior mode)
	Sets selection behavior (when displayed) More...

virtual SelectionBehavior	getSelectionBehavior () const
	Returns selection behavior. More...

virtual unsigned	getUniqueIDForDisplay () const
	Returns object unqiue ID used for display. More...

virtual const ccGLMatrix &	getGLTransformationHistory () const
	Returns the transformation 'history' matrix. More...

virtual void	setGLTransformationHistory (const ccGLMatrix &mat)
	Sets the transformation 'history' matrix (handle with care!) More...

virtual void	resetGLTransformationHistory ()
	Resets the transformation 'history' matrix. More...

bool	pushDisplayState () override
	Pushes the current display state (overridden) More...

void	popDisplayState (bool apply=true) override
	Pops the last pushed display state (overridden) More...

Public Member Functions inherited from ccObject
	ccObject (QString name=QString())
	Default constructor. More...

	ccObject (const ccObject &object)
	Copy constructor. More...

virtual QString	getName () const
	Returns object name. More...

virtual void	setName (const QString &name)
	Sets object name. More...

virtual void	setRemoveFlag (bool removeFlag)
	Sets removeFlag. More...

virtual bool	getRemoveFlag ()
	Returns removeFlag. More...

virtual unsigned	getUniqueID () const
	Returns object unique ID. More...

virtual void	setUniqueID (unsigned ID)
	Changes unique ID. More...

virtual bool	isEnabled () const
	Returns whether the object is enabled or not. More...

virtual void	setEnabled (bool state)
	Sets the "enabled" property. More...

virtual void	toggleActivation ()
	Toggles the "enabled" property. More...

virtual bool	isLocked () const
	Returns whether the object is locked or not. More...

virtual void	setLocked (bool state)
	Sets the "enabled" property. More...

bool	isLeaf () const

bool	isCustom () const

bool	isHierarchy () const

bool	isKindOf (CV_CLASS_ENUM type) const

bool	isA (CV_CLASS_ENUM type) const

QVariant	getMetaData (const QString &key) const
	Returns a given associated meta data. More...

bool	removeMetaData (const QString &key)
	Removes a given associated meta-data. More...

void	setMetaData (const QString &key, const QVariant &data)
	Sets a meta-data element. More...

void	setMetaData (const QVariantMap &dataset, bool overwrite=false)
	Sets several meta-data elements at a time. More...

bool	hasMetaData (const QString &key) const
	Returns whether a meta-data element with the given key exists or not. More...

const QVariantMap &	metaData () const
	Returns meta-data map (const only) More...

void	setBaseName (const QString &baseName)

QString	getBaseName () const

void	setFullPath (const QString &fullPaht)

QString	getFullPath () const

Public Member Functions inherited from ccSerializableObject
virtual	~ccSerializableObject ()=default
	Destructor. More...

Public Member Functions inherited from ccDrawableObject
	ccDrawableObject ()
	Default constructor. More...

	ccDrawableObject (const ccDrawableObject &object)
	Copy constructor. More...

virtual	~ccDrawableObject ()=default

virtual bool	isVisible () const
	Returns whether entity is visible or not. More...

virtual void	setVisible (bool state)
	Sets entity visibility. More...

virtual void	toggleVisibility ()
	Toggles visibility. More...

virtual bool	isRedraw () const
	Returns whether entity is to be redraw. More...

virtual void	setRedraw (bool state)
	Sets entity redraw mode. More...

virtual void	setForceRedraw (bool state)
	Sets force redraw. More...

virtual void	setFixedId (bool state)

virtual bool	isFixedId ()

virtual bool	isVisibilityLocked () const
	Returns whether visibility is locked or not. More...

virtual void	lockVisibility (bool state)
	Locks/unlocks visibility. More...

virtual bool	isSelected () const
	Returns whether entity is selected or not. More...

virtual void	setSelected (bool state)
	Selects/Unselects entity. More...

virtual void	getDrawingParameters (glDrawParams &params) const
	Returns main OpenGL parameters for this entity. More...

virtual bool	hasColors () const
	Returns whether colors are enabled or not. More...

virtual bool	colorsShown () const
	Returns whether colors are shown or not. More...

virtual void	showColors (bool state)
	Sets colors visibility. More...

virtual void	toggleColors ()
	Toggles colors display state. More...

virtual bool	hasNormals () const
	Returns whether normals are enabled or not. More...

virtual bool	normalsShown () const
	Returns whether normals are shown or not. More...

virtual void	showNormals (bool state)
	Sets normals visibility. More...

virtual void	toggleNormals ()
	Toggles normals display state. More...

virtual bool	hasDisplayedScalarField () const
	Returns whether an active scalar field is available or not. More...

virtual bool	hasScalarFields () const
	Returns whether one or more scalar fields are instantiated. More...

virtual void	showSF (bool state)
	Sets active scalarfield visibility. More...

virtual void	toggleSF ()
	Toggles SF display state. More...

virtual bool	sfShown () const
	Returns whether active scalar field is visible. More...

virtual void	toggleMaterials ()
	Toggles material display state. More...

virtual void	showNameIn3D (bool state)
	Sets whether name should be displayed in 3D. More...

virtual bool	nameShownIn3D () const
	Returns whether name is displayed in 3D or not. More...

virtual void	toggleShowName ()
	Toggles name in 3D display state. More...

virtual bool	isColorOverridden () const

virtual const ecvColor::Rgb &	getTempColor () const
	Returns current temporary (unique) color. More...

virtual void	setTempColor (const ecvColor::Rgb &col, bool autoActivate=true)
	Sets current temporary (unique) More...

virtual void	enableTempColor (bool state)
	Set temporary color activation state. More...

virtual float	getOpacity () const

virtual void	setOpacity (float opacity)
	Set opacity activation state. More...

virtual void	setGLTransformation (const ccGLMatrix &trans)
	Associates entity with a GL transformation (rotation + translation) More...

virtual void	enableGLTransformation (bool state)
	Enables/disables associated GL transformation. More...

virtual bool	isGLTransEnabled () const
	Returns whether a GL transformation is enabled or not. More...

virtual const ccGLMatrix &	getGLTransformation () const
	Returns associated GL transformation. More...

virtual void	resetGLTransformation ()
	Resets associated GL transformation. More...

virtual void	rotateGL (const ccGLMatrix &rotMat)
	Multiplies (left) current GL transformation by a rotation matrix. More...

virtual void	translateGL (const CCVector3 &trans)
	Translates current GL transformation by a rotation matrix. More...

virtual void	removeAllClipPlanes ()
	Removes all clipping planes (if any) More...

virtual bool	addClipPlanes (const ccClipPlane &plane)
	Registers a new clipping plane. More...

virtual void	toggleClipPlanes (CC_DRAW_CONTEXT &context, bool enable)
	Enables or disables clipping planes (OpenGL) More...

virtual void	applyDisplayState (const DisplayState &state)
	Applies a display state. 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...

Static Public Member Functions inherited from ccHObject
static ccHObject *	New (CV_CLASS_ENUM objectType, const char *name=nullptr)
	Static factory. More...

static ccHObject *	New (const QString &pluginId, const QString &classId, const char *name=nullptr)
	Static factory (version to be used by external plugin factories) More...

static Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points)
	Compute min bound of a list points. More...

static Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points)
	Compute max bound of a list points. More...

static Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points)
	Computer center of a list of points. More...

static void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, std::size_t size, const Eigen::Vector3d &color)
	Resizes the colors vector and paints a uniform color. More...

static void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points)
	Transforms all points with the transformation matrix. More...

static void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals)
	Transforms the normals with the transformation matrix. More...

static void	TransformCovariances (const Eigen::Matrix4d &transformation, std::vector< Eigen::Matrix3d > &covariances)
	Transforms all covariance matrices with the transformation. More...

static void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative)
	Apply translation to the geometry coordinates. More...

static void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Scale the coordinates of all points by the scaling factor `scale`. More...

static void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center)
	Rotate all points with the rotation matrix `R`. More...

static void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals)
	Rotate all normals with the rotation matrix `R`. More...

static void	RotateCovariances (const Eigen::Matrix3d &R, std::vector< Eigen::Matrix3d > &covariances)
	Rotate all covariance matrices with the rotation matrix `R`. More...

static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

static Eigen::Matrix3d	GetRotationMatrixFromEulerAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from Euler angle. More...

Static Public Member Functions inherited from ccObject
static unsigned	GetCurrentDBVersion ()
	Returns current database version. More...

static void	SetUniqueIDGenerator (ccUniqueIDGenerator::Shared generator)
	Sets the unique ID generator. More...

static ccUniqueIDGenerator::Shared	GetUniqueIDGenerator ()
	Returns the unique ID generator. More...

static unsigned	GetNextUniqueID ()
	Returns a new unassigned unique ID. More...

static unsigned	GetLastUniqueID ()
	Returns last assigned unique ID. More...

static CV_CLASS_ENUM	ReadClassIDFromFile (QFile &in, short dataVersion)
	Helper: reads out class ID from a binary stream. More...

Static Public Member Functions inherited from ccSerializableObject
static bool	WriteError ()
	Sends a custom error message (write error) and returns 'false'. More...

static bool	ReadError ()
	Sends a custom error message (read error) and returns 'false'. More...

static bool	MemoryError ()
	Sends a custom error message (not enough memory) and returns 'false'. More...

static bool	CorruptError ()
	Sends a custom error message (corrupted file) and returns 'false'. More...

Public Attributes
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
virtual void	drawMeOnly (CC_DRAW_CONTEXT &context) override
	Draws the entity only (not its children) More...

virtual void	onDeletionOf (const ccHObject *obj) override
	This method is called when another object is deleted. More...

void	AllocateDataBuffer ()

Protected Member Functions inherited from ccHObject
virtual void	setParent (ccHObject *anObject)
	Sets parent object. More...

virtual void	applyGLTransformation (const ccGLMatrix &trans)
	Applies a GL transformation to the entity. More...

virtual bool	toFile_MeOnly (QFile &out, short dataVersion) const
	Save own object data. More...

virtual bool	fromFile_MeOnly (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap)
	Loads own object data. More...

virtual short	minimumFileVersion_MeOnly () const

virtual void	drawNameIn3D ()
	Draws the entity name in 3D. More...

virtual void	onUpdateOf (ccHObject *obj)
	This method is called when another object (geometry) is updated. More...

Protected Member Functions inherited from ccObject
virtual bool	getFlagState (CV_OBJECT_FLAG flag) const
	Returns flag state. More...

virtual void	setFlagState (CV_OBJECT_FLAG flag, bool state)
	Sets flag state. More...

bool	toFile (QFile &out, short dataVersion) const override
	Saves data to binary stream. More...

short	minimumFileVersion () const override
	Returns the minimum file version required to save this instance. More...

bool	fromFile (QFile &in, short dataVersion, int flags, LoadedIDMap &oldToNewIDMap) override
	Reimplemented from ccSerializableObject::fromFile. More...

Additional Inherited Members
Protected Attributes inherited from ccHObject
ccHObject *	m_parent
	Parent. More...

Container	m_children
	Children. More...

SelectionBehavior	m_selectionBehavior
	Selection behavior. More...

std::map< ccHObject *, int >	m_dependencies
	Dependencies map. More...

ccGLMatrix	m_glTransHistory
	Cumulative GL transformation. More...

bool	m_isDeleting
	Flag to safely handle dependencies when the object is being deleted. More...

Protected Attributes inherited from ccObject
QString	m_name
	Object name. More...

QString	m_baseName

QString	m_filePath

bool	m_removeFlag

unsigned	m_flags
	Object flags. More...

QVariantMap	m_metaData
	Associated meta-data. More...

Protected Attributes inherited from ccDrawableObject
bool	m_fixedId

bool	m_modelRedraw

bool	m_forceRedraw

float	m_opacity

bool	m_visible
	Specifies whether the object is visible or not. More...

bool	m_selected
	Specifies whether the object is selected or not. More...

bool	m_lockedVisibility
	Specifies whether the visibility can be changed by user or not. More...

bool	m_colorsDisplayed
	Specifies whether colors should be displayed. More...

bool	m_normalsDisplayed
	Specifies whether normals should be displayed. More...

bool	m_sfDisplayed
	Specifies whether scalar field should be displayed. More...

ecvColor::Rgb	m_tempColor
	Temporary (unique) color. More...

bool	m_colorIsOverridden
	Temporary (unique) color activation state. More...

ccGLMatrix	m_glTrans
	Current GL transformation. More...

bool	m_glTransEnabled
	Current GL transformation activation state. More...

bool	m_showNameIn3D
	Whether name is displayed in 3D or not. More...

CCVector3d	m_nameIn3DPos
	Last 2D position of the '3D' name. More...

ccClipPlaneSet	m_clipPlanes
	Active clipping planes (used for display only) More...

std::vector< DisplayState::Shared >	m_displayStateStack
	The stack of pushed display states. More...

Detailed Description

The Image class stores image with customizable width, height, num of channels and bytes per channel.

Definition at line 33 of file Image.h.

Member Enumeration Documentation

◆ ColorToIntensityConversionType

enum cloudViewer::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.

Definition at line 42 of file Image.h.

◆ FilterType

enum cloudViewer::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.

Definition at line 52 of file Image.h.

Constructor & Destructor Documentation

◆ Image()

cloudViewer::geometry::Image::Image ( const char * name = "Image" )

inline

Default Constructor.

Definition at line 67 of file Image.h.

◆ ~Image()

cloudViewer::geometry::Image::~Image ( )

inlineoverride

Definition at line 68 of file Image.h.

Member Function Documentation

◆ AllocateDataBuffer()

void cloudViewer::geometry::Image::AllocateDataBuffer ( )

inlineprotected

Definition at line 213 of file Image.h.

◆ BytesPerLine()

int cloudViewer::geometry::Image::BytesPerLine ( ) const

inline

Returns data size per line (row, or the width) in bytes.

Definition at line 122 of file Image.h.

Referenced by cloudViewer::visualization::Visualizer::CaptureDepthFloatBuffer(), cloudViewer::visualization::Visualizer::CaptureDepthImage(), cloudViewer::visualization::Visualizer::CaptureDepthPointCloud(), cloudViewer::visualization::Visualizer::CaptureScreenFloatBuffer(), cloudViewer::visualization::Visualizer::CaptureScreenImage(), cloudViewer::t::geometry::Image::FromLegacy(), and cloudViewer::t::geometry::Image::ToLegacy().

◆ Clear()

Image& cloudViewer::geometry::Image::Clear ( )

Referenced by cloudViewer::visualization::SelectionPolygon::Clear().

◆ ClipIntensity()

Image& cloudViewer::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> cloudViewer::geometry::Image::ConvertDepthToFloatImage	(	double	depth_scale = `1000.0`,
		double	depth_trunc = `3.0`
	)		const

◆ CreateDepthBoundaryMask()

std::shared_ptr<Image> cloudViewer::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()

static std::shared_ptr<Image> cloudViewer::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).

Referenced by cloudViewer::pipelines::integration::ScalableTSDFVolume::Integrate(), and cloudViewer::pipelines::integration::UniformTSDFVolume::Integrate().

◆ CreateFloatImage()

std::shared_ptr<Image> cloudViewer::geometry::Image::CreateFloatImage ( Image::ColorToIntensityConversionType type = Image::ColorToIntensityConversionType::Weighted ) const

Return a gray scaled float type image.

Referenced by cloudViewer::pipelines::odometry::InitializeRGBDOdometry().

◆ CreateImageFromFloatImage()

template<typename T >

std::shared_ptr<Image> cloudViewer::geometry::Image::CreateImageFromFloatImage ( ) 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 cloudViewer::geometry::Image::CreatePyramid	(	size_t	num_of_levels,
		bool	with_gaussian_filter = `true`
	)		const

Function to create image pyramid.

◆ Dilate()

std::shared_ptr<Image> cloudViewer::geometry::Image::Dilate ( int half_kernel_size = 1 ) const

Function to dilate 8bit mask map.

◆ Downsample()

std::shared_ptr<Image> cloudViewer::geometry::Image::Downsample ( ) const

Function to 2x image downsample using simple 2x2 averaging.

◆ drawMeOnly()

virtual void cloudViewer::geometry::Image::drawMeOnly ( CC_DRAW_CONTEXT & context )

inlineoverrideprotectedvirtual

Draws the entity only (not its children)

Reimplemented from ccHObject.

Definition at line 82 of file Image.h.

◆ Filter() [1/2]

std::shared_ptr<Image> cloudViewer::geometry::Image::Filter	(	const std::vector< double > &	dx,
		const std::vector< double > &	dy
	)		const

Function to filter image with arbitrary dx, dy separable filters.

◆ Filter() [2/2]

std::shared_ptr<Image> cloudViewer::geometry::Image::Filter ( Image::FilterType type ) const

Function to filter image with pre-defined filtering type.

◆ FilterHorizontal()

std::shared_ptr<Image> cloudViewer::geometry::Image::FilterHorizontal ( const std::vector< double > & kernel ) const

◆ FilterPyramid()

static ImagePyramid cloudViewer::geometry::Image::FilterPyramid	(	const ImagePyramid &	input,
		Image::FilterType	type
	)

static

Function to filter image pyramid.

◆ FlipHorizontal()

std::shared_ptr<Image> cloudViewer::geometry::Image::FlipHorizontal ( ) const

Function to flip image horizontally (from left to right).

◆ FlipVertical()

std::shared_ptr<Image> cloudViewer::geometry::Image::FlipVertical ( ) const

Function to flip image vertically (upside down).

◆ FloatValueAt()

std::pair<bool, double> cloudViewer::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.

Referenced by cloudViewer::pipelines::color_map::ComputeJacobianAndResidualNonRigid(), and cloudViewer::pipelines::color_map::ComputeJacobianAndResidualRigid().

◆ getClassID()

virtual CV_CLASS_ENUM cloudViewer::geometry::Image::getClassID ( ) const

inlineoverridevirtual

Returns unique class ID.

Reimplemented from ccHObject.

Definition at line 74 of file Image.h.

References CV_TYPES::IMAGE2.

◆ GetMax2DBound()

virtual Eigen::Vector2d cloudViewer::geometry::Image::GetMax2DBound ( ) const

overridevirtual

Reimplemented from ccHObject.

◆ GetMin2DBound()

virtual Eigen::Vector2d cloudViewer::geometry::Image::GetMin2DBound ( ) const

overridevirtual

Reimplemented from ccHObject.

◆ getOwnBB()

virtual ccBBox cloudViewer::geometry::Image::getOwnBB ( bool withGLFeatures = false )

overridevirtual

Returns the entity's own bounding-box.

Children bboxes are ignored.

Parameters

withGLFeatures whether to take into account display-only elements (if any)

Returns: bounding-box

Reimplemented from ccHObject.

◆ HasData()

virtual bool cloudViewer::geometry::Image::HasData ( ) const

inlinevirtual

Returns true if the Image has valid data.

Definition at line 103 of file Image.h.

◆ IsEmpty()

virtual bool cloudViewer::geometry::Image::IsEmpty ( ) const

inlineoverridevirtual

Reimplemented from ccHObject.

Definition at line 87 of file Image.h.

Referenced by cloudViewer::t::geometry::Image::FromLegacy().

◆ isSerializable()

virtual bool cloudViewer::geometry::Image::isSerializable ( ) const

inlineoverridevirtual

Returns whether object is serializable of not.

Reimplemented from ccHObject.

Definition at line 71 of file Image.h.

◆ LinearTransform()

Image& cloudViewer::geometry::Image::LinearTransform	(	double	scale = `1.0`,
		double	offset = `0.0`
	)

Function to linearly transform pixel intensities image_new = scale * image + offset.

Referenced by cloudViewer::pipelines::odometry::NormalizeIntensity().

◆ onDeletionOf()

virtual void cloudViewer::geometry::Image::onDeletionOf ( const ccHObject * obj )

overrideprotectedvirtual

This method is called when another object is deleted.

For internal use.

Reimplemented from ccHObject.

◆ PointerAt() [1/2]

template<typename T >

T* cloudViewer::geometry::Image::PointerAt	(	int	u,
		int	v
	)		const

Function to access the raw data of a single-channel Image.

◆ PointerAt() [2/2]

template<typename T >

T* cloudViewer::geometry::Image::PointerAt	(	int	u,
		int	v,
		int	ch
	)		const

Function to access the raw data of a multi-channel Image.

◆ Prepare()

Image& cloudViewer::geometry::Image::Prepare	(	int	width,
		int	height,
		int	num_of_channels,
		int	bytes_per_channel
	)

inline

Prepare Image properties and allocate Image buffer.

Definition at line 109 of file Image.h.

Referenced by cloudViewer::visualization::Visualizer::CaptureDepthFloatBuffer(), cloudViewer::visualization::Visualizer::CaptureDepthImage(), cloudViewer::visualization::Visualizer::CaptureDepthPointCloud(), cloudViewer::visualization::Visualizer::CaptureScreenFloatBuffer(), cloudViewer::visualization::Visualizer::CaptureScreenImage(), cloudViewer::visualization::SelectionPolygon::FillPolygon(), cloudViewer::pipelines::odometry::InitializeCorrespondenceMap(), cloudViewer::geometry::pybind_image(), and cloudViewer::t::geometry::Image::ToLegacy().

◆ TestImageBoundary()

bool cloudViewer::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.

Referenced by cloudViewer::pipelines::color_map::ComputeJacobianAndResidualNonRigid(), cloudViewer::pipelines::color_map::ComputeJacobianAndResidualRigid(), and cloudViewer::pipelines::color_map::QueryImageIntensity().

◆ Transpose()

std::shared_ptr<Image> cloudViewer::geometry::Image::Transpose ( ) const

Member Data Documentation

◆ bytes_per_channel_

int cloudViewer::geometry::Image::bytes_per_channel_ = 0

Number of bytes per channel.

Definition at line 225 of file Image.h.

Referenced by cloudViewer::pipelines::odometry::CheckRGBDImagePair(), cloudViewer::io::ConvertBGRAToRGB(), cloudViewer::pipelines::odometry::ConvertDepthImageToXYZImage(), and cloudViewer::t::geometry::Image::FromLegacy().

◆ data_

std::vector<uint8_t> cloudViewer::geometry::Image::data_

Image storage buffer.

Definition at line 227 of file Image.h.

Referenced by cloudViewer::visualization::Visualizer::CaptureDepthFloatBuffer(), cloudViewer::visualization::Visualizer::CaptureDepthImage(), cloudViewer::visualization::Visualizer::CaptureDepthPointCloud(), cloudViewer::visualization::Visualizer::CaptureScreenFloatBuffer(), cloudViewer::visualization::Visualizer::CaptureScreenImage(), cloudViewer::visualization::SelectionPolygon::FillPolygon(), cloudViewer::t::geometry::Image::FromLegacy(), and cloudViewer::t::geometry::Image::ToLegacy().

◆ height_

int cloudViewer::geometry::Image::height_ = 0

Height of the image.

Definition at line 221 of file Image.h.

Referenced by cloudViewer::visualization::Visualizer::CaptureDepthFloatBuffer(), cloudViewer::visualization::Visualizer::CaptureDepthImage(), cloudViewer::visualization::Visualizer::CaptureDepthPointCloud(), cloudViewer::visualization::Visualizer::CaptureScreenFloatBuffer(), cloudViewer::visualization::Visualizer::CaptureScreenImage(), cloudViewer::pipelines::odometry::CheckImagePair(), cloudViewer::pipelines::odometry::ComputeCorrespondence(), cloudViewer::io::ConvertBGRAToRGB(), cloudViewer::pipelines::odometry::ConvertDepthImageToXYZImage(), cloudViewer::pipelines::odometry::CountCorrespondence(), cloudViewer::t::geometry::Image::FromLegacy(), cloudViewer::pipelines::odometry::InitializeCorrespondenceMap(), cloudViewer::pipelines::odometry::MergeCorrespondenceMaps(), cloudViewer::pipelines::odometry::NormalizeIntensity(), and cloudViewer::t::geometry::Image::ToLegacy().

◆ num_of_channels_

int cloudViewer::geometry::Image::num_of_channels_ = 0

Number of chanels in the image.

Definition at line 223 of file Image.h.

Referenced by cloudViewer::pipelines::odometry::CheckRGBDImagePair(), cloudViewer::io::ConvertBGRAToRGB(), cloudViewer::pipelines::odometry::ConvertDepthImageToXYZImage(), and cloudViewer::t::geometry::Image::FromLegacy().

◆ width_

int cloudViewer::geometry::Image::width_ = 0

Width of the image.

Definition at line 219 of file Image.h.

Referenced by cloudViewer::visualization::Visualizer::CaptureDepthFloatBuffer(), cloudViewer::visualization::Visualizer::CaptureDepthImage(), cloudViewer::visualization::Visualizer::CaptureDepthPointCloud(), cloudViewer::pipelines::odometry::CheckImagePair(), cloudViewer::pipelines::odometry::ComputeCorrespondence(), cloudViewer::io::ConvertBGRAToRGB(), cloudViewer::pipelines::odometry::ConvertDepthImageToXYZImage(), cloudViewer::pipelines::odometry::CountCorrespondence(), cloudViewer::t::geometry::Image::FromLegacy(), cloudViewer::pipelines::odometry::InitializeCorrespondenceMap(), cloudViewer::pipelines::odometry::MergeCorrespondenceMaps(), and cloudViewer::pipelines::odometry::NormalizeIntensity().

The documentation for this class was generated from the following file:

/root/ACloudViewer/libs/CV_db/include/Image.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

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()

◆ drawMeOnly()

◆ Filter() [1/2]

◆ Filter() [2/2]

◆ FilterHorizontal()

◆ FilterPyramid()

◆ FlipHorizontal()

◆ FlipVertical()

◆ FloatValueAt()

◆ getClassID()

◆ GetMax2DBound()

◆ GetMin2DBound()

◆ getOwnBB()

◆ HasData()

◆ IsEmpty()

◆ isSerializable()

◆ LinearTransform()

◆ onDeletionOf()

◆ PointerAt() [1/2]

◆ PointerAt() [2/2]

◆ Prepare()

◆ TestImageBoundary()

◆ Transpose()

Member Data Documentation

◆ bytes_per_channel_

◆ data_

◆ height_

◆ num_of_channels_

◆ width_