The Image class stores image with customizable rows, cols, channels, dtype and device. More...

#include <Image.h>

Inheritance diagram for cloudViewer::t::geometry::Image:

Collaboration diagram for cloudViewer::t::geometry::Image:

[legend]

Public Types
enum class	InterpType { Nearest = 0 , Linear = 1 , Cubic = 2 , Lanczos = 3 , Super = 4 }
	Image interpolation algorithms. More...

Public Types inherited from cloudViewer::t::geometry::Geometry
enum class	GeometryType { Unspecified = 0 , PointCloud = 1 , VoxelGrid = 2 , Octree = 3 , LineSet = 4 , MeshBase = 5 , TriangleMesh = 6 , HalfEdgeTriangleMesh = 7 , Image = 8 , RGBDImage = 9 , TetraMesh = 10 , OrientedBoundingBox = 11 , AxisAlignedBoundingBox = 12 }
	Specifies possible geometry types. More...

Public Member Functions
	Image (int64_t rows=0, int64_t cols=0, int64_t channels=1, core::Dtype dtype=core::Float32, const core::Device &device=core::Device("CPU:0"))
	Constructor for image. More...

	Image (const core::Tensor &tensor)
	Construct from a tensor. The tensor won't be copied and memory will be shared. More...

virtual	~Image () override

Image &	Clear () override
	Clear image contents by resetting the rows and cols to 0, while keeping channels, dtype and device unchanged. More...

bool	IsEmpty () const override
	Returns true if rows * cols * channels == 0. More...

Image &	Reset (int64_t rows=0, int64_t cols=0, int64_t channels=1, core::Dtype dtype=core::Float32, const core::Device &device=core::Device("CPU:0"))
	Reinitialize image with new parameters. More...

int64_t	GetRows () const
	Get the number of rows of the image. More...

int64_t	GetCols () const
	Get the number of columns of the image. More...

int64_t	GetChannels () const
	Get the number of channels of the image. More...

core::Dtype	GetDtype () const
	Get dtype of the image. More...

core::Device	GetDevice () const override
	Get device of the image. More...

core::Tensor	At (int64_t r, int64_t c) const
	Get pixel(s) in the image. More...

core::Tensor	At (int64_t r, int64_t c, int64_t ch) const
	Get pixel(s) in the image. Returns a tensor with shape {}. More...

void *	GetDataPtr ()
	Get raw buffer of the Image data. More...

const void *	GetDataPtr () const
	Get raw buffer of the Image data. More...

core::Tensor	AsTensor () const
	Returns the underlying Tensor of the Image. More...

Image	To (const core::Device &device, bool copy=false) const
	Transfer the image to a specified device. More...

Image	CPU () const
	Backward-compatible convenience method to obtain a CPU-resident copy. More...

Image	Clone () const
	Returns copy of the image on the same device. More...

Image	To (core::Dtype dtype, bool copy=false, utility::optional< double > scale=utility::nullopt, double offset=0.0) const
	Returns an Image with the specified `dtype`. More...

Image &	LinearTransform (double scale=1.0, double offset=0.0)
	Function to linearly transform pixel intensities in place. More...

Image	RGBToGray () const
	Converts a 3-channel RGB image to a new 1-channel Grayscale image. More...

Image	Resize (float sampling_rate=0.5f, InterpType interp_type=InterpType::Nearest) const
	Return a new image after resizing with specified interpolation type. More...

Image	Dilate (int kernel_size=3) const
	Return a new image after performing morphological dilation. More...

Image	Filter (const core::Tensor &kernel) const
	Return a new image after filtering with the given kernel. More...

Image	FilterBilateral (int kernel_size=3, float value_sigma=20.0f, float distance_sigma=10.0f) const
	Return a new image after bilateral filtering. More...

Image	FilterGaussian (int kernel_size=3, float sigma=1.0f) const
	Return a new image after Gaussian filtering. More...

std::pair< Image, Image >	FilterSobel (int kernel_size=3) const
	Return a pair of new gradient images (dx, dy) after Sobel filtering. More...

Image	PyrDown () const
	Return a new downsampled image with pyramid downsampling. More...

Image	PyrDownDepth (float diff_threshold, float invalid_fill=0.f) const
	Edge and invalid value preserving downsampling by 2 specifically for depth images. More...

Image	ClipTransform (float scale, float min_value, float max_value, float clip_fill=0.0f) const
	Return new image after scaling and clipping image values. More...

Image	CreateVertexMap (const core::Tensor &intrinsics, float invalid_fill=0.0f)
	Create a vertex map from a depth image using unprojection. More...

Image	CreateNormalMap (float invalid_fill=0.0f)
	Create a normal map from a vertex map. More...

Image	ColorizeDepth (float scale, float min_value, float max_value)
	Colorize an input depth image (with Dtype UInt16 or Float32). More...

core::Tensor	GetMinBound () const
	Compute min 2D coordinates for the data (always {0, 0}). More...

core::Tensor	GetMaxBound () const
	Compute max 2D coordinates for the data ({rows, cols}). More...

cloudViewer::geometry::Image	ToLegacy () const
	Convert to legacy Image type. More...

std::string	ToString () const
	Text description. More...

Public Member Functions inherited from cloudViewer::t::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...

std::string	GetName () const

void	SetName (const std::string &name)

Public Member Functions inherited from cloudViewer::core::IsDevice
	IsDevice ()=default

virtual	~IsDevice ()=default

bool	IsCPU () const

bool	IsCUDA () const

bool	IsSYCL () const

Static Public Member Functions
static Image	FromLegacy (const cloudViewer::geometry::Image &image_legacy, const core::Device &Device=core::Device("CPU:0"))
	Create from a legacy CloudViewer Image. More...

Static Public Attributes
static constexpr bool	HAVE_IPP = false
	Do we use IPP for accelerating image processing operations? More...

Protected Attributes
core::Tensor	data_

Additional Inherited Members
Protected Member Functions inherited from cloudViewer::t::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

The Image class stores image with customizable rows, cols, channels, dtype and device.

Definition at line 29 of file Image.h.

Member Enumeration Documentation

◆ InterpType

enum cloudViewer::t::geometry::Image::InterpType

strong

Image interpolation algorithms.

Enumerator
Nearest	Nearest neighbors interpolation.
Linear	Bilinear interpolation.
Cubic	Bicubic interpolation.
Lanczos	Lanczos filter interpolation.
Super	Super sampling interpolation (only downsample).

Definition at line 178 of file Image.h.

Constructor & Destructor Documentation

◆ Image() [1/2]

cloudViewer::t::geometry::Image::Image	(	int64_t	rows = `0`,
		int64_t	cols = `0`,
		int64_t	channels = `1`,
		core::Dtype	dtype = `core::Float32`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

Constructor for image.

Row-major storage is used, similar to OpenCV. Use (row, col, channel) indexing order for image creation and accessing. In general, (r, c, ch) are the preferred variable names for consistency, and avoid using width, height, u, v, x, y for coordinates.

Parameters

rows	Number of rows of the image, i.e. image height. `rows` must be non-negative.
cols	Number of columns of the image, i.e. image width. `cols` must be non-negative.
channels	Number of channels of the image. E.g. for RGB image, channels == 3; for grayscale image, channels == 1. `channels` must be greater than 0.
dtype	Data type of the image.
device	Device where the image is stored.

Definition at line 31 of file Image.cpp.

References Reset().

Referenced by FromLegacy(), Resize(), and To().

◆ Image() [2/2]

cloudViewer::t::geometry::Image::Image ( const core::Tensor & tensor )

Construct from a tensor. The tensor won't be copied and memory will be shared.

Parameters

tensor Tensor of the image. The tensor must be contiguous. The tensor must be 2D (rows, cols) or 3D (rows, cols, channels).

Definition at line 40 of file Image.cpp.

References cloudViewer::core::shape_util::Concat(), data_, cloudViewer::core::Tensor::GetShape(), cloudViewer::core::Tensor::IsContiguous(), LogError, cloudViewer::core::Tensor::NumDims(), cloudViewer::core::Tensor::Reshape(), and cloudViewer::core::SizeVector::ToString().

◆ ~Image()

virtual cloudViewer::t::geometry::Image::~Image ( )

inlineoverridevirtual

Definition at line 60 of file Image.h.

Member Function Documentation

◆ AsTensor()

core::Tensor cloudViewer::t::geometry::Image::AsTensor ( ) const

inline

Returns the underlying Tensor of the Image.

Definition at line 124 of file Image.h.

References data_.

◆ At() [1/2]

core::Tensor cloudViewer::t::geometry::Image::At	(	int64_t	r,
		int64_t	c
	)		const

inline

Get pixel(s) in the image.

If channels == 1, returns a tensor with shape {}, otherwise returns a tensor with shape {channels,}. The returned tensor is a slice of the image's tensor, so when modifying the slice, the original tensor will also be modified.

Definition at line 104 of file Image.h.

References data_, and GetChannels().

◆ At() [2/2]

core::Tensor cloudViewer::t::geometry::Image::At	(	int64_t	r,
		int64_t	c,
		int64_t	ch
	)		const

inline

Get pixel(s) in the image. Returns a tensor with shape {}.

Definition at line 113 of file Image.h.

References data_.

◆ Clear()

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

inlineoverridevirtual

Clear image contents by resetting the rows and cols to 0, while keeping channels, dtype and device unchanged.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 65 of file Image.h.

References data_, GetChannels(), GetDevice(), and GetDtype().

Referenced by cloudViewer::t::geometry::RGBDImage::Clear(), and cloudViewer::t::geometry::pybind_image().

◆ ClipTransform()

Image cloudViewer::t::geometry::Image::ClipTransform	(	float	scale,
		float	min_value,
		float	max_value,
		float	clip_fill = `0.0f`
	)		const

Return new image after scaling and clipping image values.

This is typically used for preprocessing a depth image. Images of shape (rows, cols, channels=1) and Dtypes UInt16 and Float32 are supported. Each pixel will be transformed by

x = x / scale
x = x < min_value ? clip_fill : x
x = x > max_value ? clip_fill : x

Use INFINITY, NAN or 0.0 (default) for clip_fill.

Returns: Transformed image of type Float32, with out-of-range pixels clipped and assigned the clip_fill value.

Definition at line 417 of file Image.cpp.

References AssertTensorDtypes, AsTensor(), cloudViewer::t::geometry::kernel::image::ClipTransform(), data_, cloudViewer::core::Float32, GetChannels(), GetCols(), cloudViewer::core::Tensor::GetDevice(), GetRows(), LogError, LogWarning, and cloudViewer::core::UInt16.

Referenced by cloudViewer::t::pipelines::odometry::ComputeOdometryInformationMatrix(), cloudViewer::t::pipelines::odometry::ComputeOdometryResultPointToPlane(), cloudViewer::t::geometry::CreatePointCloudWithNormals(), cloudViewer::t::geometry::pybind_image(), and cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScale().

◆ Clone()

Image cloudViewer::t::geometry::Image::Clone ( ) const

inline

Returns copy of the image on the same device.

Definition at line 143 of file Image.h.

References GetDevice(), and To().

Referenced by cloudViewer::t::geometry::pybind_image().

◆ ColorizeDepth()

Image cloudViewer::t::geometry::Image::ColorizeDepth	(	float	scale,
		float	min_value,
		float	max_value
	)

Colorize an input depth image (with Dtype UInt16 or Float32).

The image values are divided by scale, then clamped within [min_value, max_value] and finally converted to an RGB image using the Turbo colormap as a lookup table.

Returns: Full color depth map of shape (rows, cols, channels=3) and Dtype UInt8.

Definition at line 482 of file Image.cpp.

References AssertTensorDtypes, AsTensor(), cloudViewer::t::geometry::kernel::image::ColorizeDepth(), data_, cloudViewer::core::Float32, GetChannels(), GetCols(), GetDevice(), GetRows(), LogError, cloudViewer::core::UInt16, and cloudViewer::core::UInt8.

Referenced by cloudViewer::t::geometry::pybind_image().

◆ CPU()

Image cloudViewer::t::geometry::Image::CPU ( ) const

inline

Backward-compatible convenience method to obtain a CPU-resident copy.

Definition at line 140 of file Image.h.

References To().

◆ CreateNormalMap()

Image cloudViewer::t::geometry::Image::CreateNormalMap ( float invalid_fill = 0.0f )

Create a normal map from a vertex map.

The input vertex map image should be of shape (rows, cols, channels=3) and Dtype Float32. This uses a cross product of $V(r, c+1)-V(r, c)$ and $V(r+1, c)-V(r, c)$ . The input vertex map is expected to be the output of CreateVertexMap. You may need to start with a filtered depth image (e.g. with FilterBilateral) to obtain good results.

Parameters

invalid_fill Value to fill in for invalid points, and to fill-in if no valid neighbor is found. Use NAN, INFINITY or 0.0 (default). Must be consistent with clip_fill in CreateVertexMap.

Returns: Normal map of shape (rows, cols, channels=3) and Dtype Float32, with invalid normals assigned the invalid_fill value.

Definition at line 467 of file Image.cpp.

References AssertTensorDtype, AsTensor(), cloudViewer::t::geometry::kernel::image::CreateNormalMap(), data_, cloudViewer::core::Float32, GetChannels(), GetCols(), GetDevice(), GetDtype(), GetRows(), and LogError.

Referenced by cloudViewer::t::pipelines::odometry::ComputeOdometryResultPointToPlane(), cloudViewer::t::geometry::pybind_image(), and cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScalePointToPlane().

◆ CreateVertexMap()

Image cloudViewer::t::geometry::Image::CreateVertexMap	(	const core::Tensor &	intrinsics,
		float	invalid_fill = `0.0f`
	)

Create a vertex map from a depth image using unprojection.

The input depth (of shape (rows, cols, channels=1) and Dtype Float32) is expected to be the output of ClipTransform.

Parameters

intrinsics	Pinhole camera model of (3, 3) in Float64.
invalid_fill	Value to fill in for invalid depths. Use NAN, INFINITY or 0.0 (default). Must be consistent with `clip_fill` in ClipTransform.

Returns: Vertex map of shape (rows, cols, channels=3) and Dtype Float32, with invalid points assigned the invalid_fill value.

Definition at line 449 of file Image.cpp.

References AssertTensorDtype, AssertTensorShape, AsTensor(), cloudViewer::t::geometry::kernel::image::CreateVertexMap(), data_, cloudViewer::core::Float32, GetChannels(), GetCols(), GetDevice(), GetDtype(), GetRows(), and LogError.

Referenced by cloudViewer::t::pipelines::odometry::ComputeOdometryInformationMatrix(), cloudViewer::t::pipelines::odometry::ComputeOdometryResultPointToPlane(), cloudViewer::t::geometry::pybind_image(), cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScaleHybrid(), cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScaleIntensity(), and cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScalePointToPlane().

◆ Dilate()

Image cloudViewer::t::geometry::Image::Dilate ( int kernel_size = 3 ) const

Return a new image after performing morphological dilation.

Supported datatypes are UInt8, UInt16 and Float32 with {1, 3, 4} channels. An 8-connected neighborhood is used to create the dilation mask.

Parameters

kernel_size An odd number >= 3.

Definition at line 203 of file Image.cpp.

References cloudViewer::core::Bool, count, CUDA_CALL, data_, cloudViewer::t::geometry::ipp::Dilate(), cloudViewer::t::geometry::npp::Dilate(), cloudViewer::core::Tensor::EmptyLike(), cloudViewer::core::Float32, GetChannels(), GetDevice(), GetDtype(), HAVE_IPP, cloudViewer::core::Int32, IPP_CALL, cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), LogError, cloudViewer::core::make_pair(), ToString(), cloudViewer::core::UInt16, and cloudViewer::core::UInt8.

Referenced by cloudViewer::t::geometry::pybind_image().

◆ Filter()

Image cloudViewer::t::geometry::Image::Filter ( const core::Tensor & kernel ) const

Return a new image after filtering with the given kernel.

Definition at line 278 of file Image.cpp.

References count, CUDA_CALL, data_, cloudViewer::core::Tensor::EmptyLike(), cloudViewer::t::geometry::npp::Filter(), cloudViewer::t::geometry::ipp::Filter(), cloudViewer::core::Float32, GetChannels(), GetDevice(), GetDtype(), HAVE_IPP, IPP_CALL, cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), LogError, cloudViewer::core::make_pair(), ToString(), cloudViewer::core::UInt16, and cloudViewer::core::UInt8.

Referenced by cloudViewer::t::geometry::pybind_image().

◆ FilterBilateral()

Image cloudViewer::t::geometry::Image::FilterBilateral	(	int	kernel_size = `3`,
		float	value_sigma = `20.0f`,
		float	distance_sigma = `10.0f`
	)		const

Return a new image after bilateral filtering.

Parameters

value_sigma	Standard deviation for the image content.
distance_sigma	Standard deviation for the image pixel positions.

Note: CPU (IPP) and CUDA (NPP) versions use different algorithms and will give different results:
CPU uses a round kernel (radius = floor(kernel_size / 2)),
while CUDA uses a square kernel (width = kernel_size).
Make sure to tune parameters accordingly.

Definition at line 239 of file Image.cpp.

References count, CUDA_CALL, data_, cloudViewer::core::Tensor::EmptyLike(), cloudViewer::t::geometry::ipp::FilterBilateral(), cloudViewer::t::geometry::npp::FilterBilateral(), cloudViewer::core::Float32, GetChannels(), GetDevice(), GetDtype(), HAVE_IPP, IPP_CALL, cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), LogError, cloudViewer::core::make_pair(), ToString(), cloudViewer::core::UInt16, and cloudViewer::core::UInt8.

Referenced by cloudViewer::t::geometry::pybind_image(), and cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScalePointToPlane().

◆ FilterGaussian()

Image cloudViewer::t::geometry::Image::FilterGaussian	(	int	kernel_size = `3`,
		float	sigma = `1.0f`
	)		const

Return a new image after Gaussian filtering.

Parameters

kernel_size	Odd numbers >= 3 are supported.
sigma	Standard deviation of the Gaussian distribution.

Definition at line 309 of file Image.cpp.

References count, CUDA_CALL, data_, cloudViewer::core::Tensor::EmptyLike(), cloudViewer::t::geometry::ipp::FilterGaussian(), cloudViewer::t::geometry::npp::FilterGaussian(), cloudViewer::core::Float32, GetChannels(), GetDevice(), GetDtype(), HAVE_IPP, IPP_CALL, cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), LogError, cloudViewer::core::make_pair(), ToString(), cloudViewer::core::UInt16, and cloudViewer::core::UInt8.

Referenced by cloudViewer::t::geometry::pybind_image(), and PyrDown().

◆ FilterSobel()

std::pair< Image, Image > cloudViewer::t::geometry::Image::FilterSobel ( int kernel_size = 3 ) const

Return a pair of new gradient images (dx, dy) after Sobel filtering.

Parameters

kernel_size Sobel filter kernel size, either 3 or 5.

Definition at line 345 of file Image.cpp.

Referenced by cloudViewer::t::geometry::pybind_image(), cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScaleHybrid(), and cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScaleIntensity().

◆ FromLegacy()

Image cloudViewer::t::geometry::Image::FromLegacy	(	const cloudViewer::geometry::Image &	image_legacy,
		const core::Device &	Device = `core::Device("CPU:0")`
	)

static

Create from a legacy CloudViewer Image.

Definition at line 505 of file Image.cpp.

References cloudViewer::geometry::Image::bytes_per_channel_, cloudViewer::geometry::Image::BytesPerLine(), cloudViewer::geometry::Image::data_, cloudViewer::core::Float32, cloudViewer::geometry::Image::height_, Image(), image, cloudViewer::geometry::Image::IsEmpty(), LogError, cloudViewer::core::MemoryManager::MemcpyFromHost(), cloudViewer::geometry::Image::num_of_channels_, cloudViewer::core::UInt16, cloudViewer::core::UInt8, and cloudViewer::geometry::Image::width_.

Referenced by cloudViewer::t::geometry::TriangleMesh::FromLegacy(), and cloudViewer::t::geometry::pybind_image().

◆ GetChannels()

int64_t cloudViewer::t::geometry::Image::GetChannels ( ) const

inline

Get the number of channels of the image.

Definition at line 90 of file Image.h.

References data_, and cloudViewer::core::Tensor::GetShape().

Referenced by At(), Clear(), ClipTransform(), ColorizeDepth(), CreateNormalMap(), CreateVertexMap(), Dilate(), Filter(), FilterBilateral(), FilterGaussian(), FilterSobel(), IsEmpty(), cloudViewer::t::geometry::pybind_image(), PyrDownDepth(), Resize(), RGBToGray(), cloudViewer::t::io::DepthNoiseSimulator::Simulate(), To(), ToLegacy(), ToString(), and cloudViewer::t::geometry::RGBDImage::ToString().

◆ GetCols()

int64_t cloudViewer::t::geometry::Image::GetCols ( ) const

inline

◆ GetDataPtr() [1/2]

void* cloudViewer::t::geometry::Image::GetDataPtr ( )

inline

Get raw buffer of the Image data.

Definition at line 118 of file Image.h.

References data_, and cloudViewer::core::Tensor::GetDataPtr().

Referenced by cloudViewer::t::geometry::pybind_image().

◆ GetDataPtr() [2/2]

const void* cloudViewer::t::geometry::Image::GetDataPtr ( ) const

inline

Get raw buffer of the Image data.

Definition at line 121 of file Image.h.

References data_, and cloudViewer::core::Tensor::GetDataPtr().

◆ GetDevice()

core::Device cloudViewer::t::geometry::Image::GetDevice ( ) const

inlineoverridevirtual

Get device of the image.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 96 of file Image.h.

References data_, and cloudViewer::core::Tensor::GetDevice().

Referenced by Clear(), Clone(), cloudViewer::t::geometry::RGBDImage::Clone(), ColorizeDepth(), CreateNormalMap(), CreateVertexMap(), Dilate(), Filter(), FilterBilateral(), FilterGaussian(), FilterSobel(), cloudViewer::t::geometry::RGBDImage::GetDevice(), cloudViewer::t::geometry::pybind_image(), PyrDownDepth(), Resize(), cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScale(), RGBToGray(), To(), ToString(), and cloudViewer::t::geometry::RGBDImage::ToString().

◆ GetDtype()

core::Dtype cloudViewer::t::geometry::Image::GetDtype ( ) const

inline

Get dtype of the image.

Definition at line 93 of file Image.h.

References data_, and cloudViewer::core::Tensor::GetDtype().

Referenced by Clear(), CreateNormalMap(), CreateVertexMap(), Dilate(), Filter(), FilterBilateral(), FilterGaussian(), FilterSobel(), LinearTransform(), cloudViewer::t::geometry::pybind_image(), PyrDownDepth(), Resize(), RGBToGray(), cloudViewer::t::io::DepthNoiseSimulator::Simulate(), To(), ToLegacy(), ToString(), and cloudViewer::t::geometry::RGBDImage::ToString().

◆ GetMaxBound()

core::Tensor cloudViewer::t::geometry::Image::GetMaxBound ( ) const

inline

Compute max 2D coordinates for the data ({rows, cols}).

Definition at line 320 of file Image.h.

References GetCols(), GetRows(), and cloudViewer::core::Int64.

Referenced by cloudViewer::t::geometry::pybind_image().

◆ GetMinBound()

core::Tensor cloudViewer::t::geometry::Image::GetMinBound ( ) const

inline

Compute min 2D coordinates for the data (always {0, 0}).

Definition at line 315 of file Image.h.

References cloudViewer::core::Int64, and cloudViewer::core::Tensor::Zeros().

Referenced by cloudViewer::t::geometry::pybind_image().

◆ GetRows()

int64_t cloudViewer::t::geometry::Image::GetRows ( ) const

inline

◆ IsEmpty()

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

inlineoverridevirtual

Returns true if rows * cols * channels == 0.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 71 of file Image.h.

References GetChannels(), GetCols(), and GetRows().

Referenced by cloudViewer::t::geometry::RGBDImage::IsEmpty(), and cloudViewer::t::geometry::pybind_image().

◆ LinearTransform()

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

inline

Function to linearly transform pixel intensities in place.

$image = scale * image + offset$ .

Parameters

scale	First multiply image pixel values with this factor. This should be positive for unsigned dtypes.
offset	Then add this factor to all image pixel values.

Returns: Reference to self.

Definition at line 167 of file Image.h.

References GetDtype(), offset, and To().

Referenced by cloudViewer::t::geometry::pybind_image().

◆ PyrDown()

Image cloudViewer::t::geometry::Image::PyrDown ( ) const

Return a new downsampled image with pyramid downsampling.

The returned image is formed by a chained Gaussian filter (kernel_size = 5, sigma = 1.0) and a resize (ratio = 0.5) operation.

Returns: Half sized downsampled depth image.

Definition at line 395 of file Image.cpp.

References FilterGaussian(), Nearest, and Resize().

Referenced by cloudViewer::t::geometry::pybind_image(), cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScaleHybrid(), and cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScaleIntensity().

◆ PyrDownDepth()

Image cloudViewer::t::geometry::Image::PyrDownDepth	(	float	diff_threshold,
		float	invalid_fill = `0.f`
	)		const

Edge and invalid value preserving downsampling by 2 specifically for depth images.

Only 1 channel Float32 images are supported. The returned image is formed by a chained Gaussian filter (kernel_size = 5, sigma = 1.0) and a resize (ratio = 0.5) operation.

Parameters

diff_threshold	The Gaussian filter averaging ignores neighboring values if the depth difference is larger than this value.
invalid_fill	The Gaussian filter ignores these values (may be specified as NAN, INFINITY or 0.0 (default)).

Returns: Half sized downsampled Float32 depth image.

Definition at line 400 of file Image.cpp.

References AssertTensorDtype, AsTensor(), cloudViewer::core::Tensor::Empty(), cloudViewer::core::Float32, GetChannels(), GetCols(), GetDevice(), GetDtype(), GetRows(), LogError, and cloudViewer::t::geometry::kernel::image::PyrDownDepth().

Referenced by cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScaleHybrid(), cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScaleIntensity(), and cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScalePointToPlane().

◆ Reset()

Image & cloudViewer::t::geometry::Image::Reset	(	int64_t	rows = `0`,
		int64_t	cols = `0`,
		int64_t	channels = `1`,
		core::Dtype	dtype = `core::Float32`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

Reinitialize image with new parameters.

Definition at line 56 of file Image.cpp.

References data_, and LogError.

Referenced by Image().

◆ Resize()

Image cloudViewer::t::geometry::Image::Resize	(	float	sampling_rate = `0.5f`,
		InterpType	interp_type = `InterpType::Nearest`
	)		const

Return a new image after resizing with specified interpolation type.

Downsample if sampling rate is < 1. Upsample if sampling rate > 1. Aspect ratio is always preserved.

Definition at line 156 of file Image.cpp.

Referenced by cloudViewer::t::geometry::pybind_image(), and PyrDown().

◆ RGBToGray()

Image cloudViewer::t::geometry::Image::RGBToGray ( ) const

Converts a 3-channel RGB image to a new 1-channel Grayscale image.

Uses formula $I = 0.299 * R + 0.587 * G + 0.114 * B$ .

Definition at line 120 of file Image.cpp.

References count, CUDA_CALL, data_, cloudViewer::core::Tensor::Empty(), cloudViewer::core::Float32, GetChannels(), GetCols(), GetDevice(), GetDtype(), GetRows(), HAVE_IPP, IPP_CALL, cloudViewer::core::IsDevice::IsCPU(), cloudViewer::core::IsDevice::IsCUDA(), LogError, cloudViewer::core::make_pair(), cloudViewer::t::geometry::ipp::RGBToGray(), cloudViewer::t::geometry::npp::RGBToGray(), ToString(), cloudViewer::core::UInt16, and cloudViewer::core::UInt8.

Referenced by cloudViewer::t::geometry::pybind_image(), cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScaleHybrid(), and cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScaleIntensity().

◆ To() [1/2]

Image cloudViewer::t::geometry::Image::To	(	const core::Device &	device,
		bool	copy = `false`
	)		const

inline

Transfer the image to a specified device.

Parameters

device	The targeted device to convert to.
copy	If true, a new image is always created; if false, the copy is avoided when the original image is already on the targeted device.

Definition at line 132 of file Image.h.

References copy, data_, Image(), and cloudViewer::core::Tensor::To().

◆ To() [2/2]

Image cloudViewer::t::geometry::Image::To	(	core::Dtype	dtype,
		bool	copy = `false`,
		utility::optional< double >	scale = `utility::nullopt`,
		double	offset = `0.0`
	)		const

Returns an Image with the specified dtype.

Parameters

dtype	The targeted dtype to convert to.
copy	If true, a new tensor is always created; if false, the copy is avoided when the original tensor already has the targeted dtype.
scale	Optional scale value. This is 1./255 for UInt8 -> Float{32,64}, 1./65535 for UInt16 -> Float{32,64} and 1 otherwise
offset	Optional shift value. Default 0.

Definition at line 75 of file Image.cpp.

◆ ToLegacy()

cloudViewer::geometry::Image cloudViewer::t::geometry::Image::ToLegacy ( ) const

◆ ToString()

std::string cloudViewer::t::geometry::Image::ToString ( ) const

Text description.

Definition at line 555 of file Image.cpp.

References format, GetChannels(), GetCols(), GetDevice(), GetDtype(), and GetRows().

Referenced by Dilate(), Filter(), FilterBilateral(), FilterGaussian(), FilterSobel(), cloudViewer::t::geometry::pybind_image(), Resize(), and RGBToGray().

Member Data Documentation

◆ data_

core::Tensor cloudViewer::t::geometry::Image::data_

protected

Internal data of the Image, represented as a contiguous 3D tensor of shape {rows, cols, channels}. Image properties can be obtained from the tensor.

Definition at line 346 of file Image.h.

Referenced by AsTensor(), At(), Clear(), ClipTransform(), ColorizeDepth(), CreateNormalMap(), CreateVertexMap(), Dilate(), Filter(), FilterBilateral(), FilterGaussian(), FilterSobel(), GetChannels(), GetCols(), GetDataPtr(), GetDevice(), GetDtype(), GetRows(), Image(), Reset(), Resize(), RGBToGray(), To(), and ToLegacy().

◆ HAVE_IPP

constexpr bool cloudViewer::t::geometry::Image::HAVE_IPP = false

staticconstexpr

Do we use IPP for accelerating image processing operations?

Definition at line 339 of file Image.h.

Referenced by cloudViewer::t::pipelines::odometry::ComputeOdometryResultPointToPlane(), Dilate(), Filter(), FilterBilateral(), FilterGaussian(), FilterSobel(), cloudViewer::t::geometry::TriangleMesh::ProjectImagesToAlbedo(), Resize(), cloudViewer::t::pipelines::odometry::RGBDOdometryMultiScale(), RGBToGray(), and To().

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

/root/ACloudViewer/libs/cloudViewer/t/geometry/Image.h
/root/ACloudViewer/libs/cloudViewer/t/geometry/Image.cpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ InterpType

Constructor & Destructor Documentation

◆ Image() [1/2]

◆ Image() [2/2]

◆ ~Image()

Member Function Documentation

◆ AsTensor()

◆ At() [1/2]

◆ At() [2/2]

◆ Clear()

◆ ClipTransform()

◆ Clone()

◆ ColorizeDepth()

◆ CPU()

◆ CreateNormalMap()

◆ CreateVertexMap()

◆ Dilate()

◆ Filter()

◆ FilterBilateral()

◆ FilterGaussian()

◆ FilterSobel()

◆ FromLegacy()

◆ GetChannels()

◆ GetCols()

◆ GetDataPtr() [1/2]

◆ GetDataPtr() [2/2]

◆ GetDevice()

◆ GetDtype()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetRows()

◆ IsEmpty()

◆ LinearTransform()

◆ PyrDown()

◆ PyrDownDepth()

◆ Reset()

◆ Resize()

◆ RGBToGray()

◆ To() [1/2]

◆ To() [2/2]

◆ ToLegacy()

◆ ToString()

Member Data Documentation

◆ data_

◆ HAVE_IPP