Image.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Eigen/Core>
#include <memory>
#include <vector>
 
#include "ecvHObject.h"
 
namespace cloudViewer {
 
namespace camera {
class PinholeCameraIntrinsic;
}
 
namespace geometry {
 
class Image;
 
typedef std::vector<std::shared_ptr<Image>> ImagePyramid;
 
class CV_DB_LIB_API Image : public ccHObject {
public:
    enum class ColorToIntensityConversionType {
        Equal,
        Weighted,
    };
 
    enum class FilterType {
        Gaussian3,
        Gaussian5,
        Gaussian7,
        Sobel3Dx,
        Sobel3Dy
    };
 
public:
    Image(const char *name = "Image") : ccHObject(name) {}
    ~Image() override {}
 
    // inherited methods (ccHObject)
    virtual bool isSerializable() const override { return true; }
 
    virtual CV_CLASS_ENUM getClassID() const override {
        return CV_TYPES::IMAGE2;
    }
 
    virtual ccBBox getOwnBB(bool withGLFeatures = false) override;
 
protected:
    // Inherited from ccHObject
    virtual void drawMeOnly(CC_DRAW_CONTEXT &context) override {};
    virtual void onDeletionOf(const ccHObject *obj) override;
 
public:
    Image &Clear();
    inline virtual bool IsEmpty() const override { return !HasData(); }
    virtual Eigen::Vector2d GetMin2DBound() const override;
    virtual Eigen::Vector2d GetMax2DBound() const override;
 
    bool TestImageBoundary(double u, double v, double inner_margin = 0.0) const;
 
public:
    virtual bool HasData() const {
        return width_ > 0 && height_ > 0 &&
               data_.size() == size_t(height_ * BytesPerLine());
    }
 
    Image &Prepare(int width,
                   int height,
                   int num_of_channels,
                   int bytes_per_channel) {
        width_ = width;
        height_ = height;
        num_of_channels_ = num_of_channels;
        bytes_per_channel_ = bytes_per_channel;
        AllocateDataBuffer();
        return *this;
    }
 
    int BytesPerLine() const {
        return width_ * num_of_channels_ * bytes_per_channel_;
    }
 
    std::pair<bool, double> FloatValueAt(double u, double v) const;
 
    static std::shared_ptr<Image>
    CreateDepthToCameraDistanceMultiplierFloatImage(
            const camera::PinholeCameraIntrinsic &intrinsic);
 
    std::shared_ptr<Image> CreateFloatImage(
            Image::ColorToIntensityConversionType type =
                    Image::ColorToIntensityConversionType::Weighted) const;
 
    template <typename T>
    T *PointerAt(int u, int v) const;
 
    template <typename T>
    T *PointerAt(int u, int v, int ch) const;
 
    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;
    std::shared_ptr<Image> FlipVertical() const;
 
    std::shared_ptr<Image> Filter(Image::FilterType type) const;
 
    std::shared_ptr<Image> Filter(const std::vector<double> &dx,
                                  const std::vector<double> &dy) const;
 
    std::shared_ptr<Image> FilterHorizontal(
            const std::vector<double> &kernel) const;
 
    std::shared_ptr<Image> Downsample() const;
 
    std::shared_ptr<Image> Dilate(int half_kernel_size = 1) const;
 
    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;
 
    static ImagePyramid FilterPyramid(const ImagePyramid &input,
                                      Image::FilterType type);
 
    ImagePyramid CreatePyramid(size_t num_of_levels,
                               bool with_gaussian_filter = true) const;
 
    std::shared_ptr<Image> CreateDepthBoundaryMask(
            double depth_threshold_for_discontinuity_check = 0.1,
            int half_dilation_kernel_size_for_discontinuity_map = 3) const;
 
protected:
    void AllocateDataBuffer() {
        data_.resize(width_ * height_ * num_of_channels_ * bytes_per_channel_);
    }
 
public:
    int width_ = 0;
    int height_ = 0;
    int num_of_channels_ = 0;
    int bytes_per_channel_ = 0;
    std::vector<uint8_t> data_;
};
 
}  // namespace geometry
}  // namespace cloudViewer