39 class PinholeCameraIntrinsic;
117 int bytes_per_channel) {
136 std::pair<bool, double>
FloatValueAt(
double u,
double v)
const;
145 static std::shared_ptr<Image>
155 template <
typename T>
159 template <
typename T>
160 T *
PointerAt(
int u,
int v,
int ch)
const;
170 return (T *)(
data_.data());
174 double depth_scale = 1000.0,
double depth_trunc = 3.0)
const;
176 std::shared_ptr<Image>
Transpose()
const;
187 std::shared_ptr<Image>
Filter(
const std::vector<double> &dx,
188 const std::vector<double> &dy)
const;
191 const std::vector<double> &kernel)
const;
197 std::shared_ptr<Image>
Dilate(
int half_kernel_size = 1)
const;
212 template <
typename T>
221 bool with_gaussian_filter =
true)
const;
225 double depth_threshold_for_discontinuity_check = 0.1,
226 int half_dilation_kernel_size_for_discontinuity_map = 3)
const;
#define LogError(...)
Definition: Logging.h:67
Contains the pinhole camera intrinsic parameters.
Definition: PinholeCameraIntrinsic.h:51
The base geometry class for 2D geometries.
Definition: Geometry2D.h:41
The base geometry class.
Definition: Geometry.h:37
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:42
The Image class stores image with customizable width, height, num of channels and bytes per channel.
Definition: Image.h:53
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:62
Image & Clear() override
Clear all elements in the geometry.
Definition: Image.cpp:45
std::shared_ptr< Image > Downsample() const
Function to 2x image downsample using simple 2x2 averaging.
Definition: Image.cpp:150
std::shared_ptr< Image > FilterHorizontal(const std::vector< double > &kernel) const
Definition: Image.cpp:179
T * PointerAt(int u, int v) const
Function to access the raw data of a single-channel Image.
Definition: Image.cpp:88
virtual bool HasData() const
Returns true if the Image has valid data.
Definition: Image.h:108
std::shared_ptr< Image > FlipHorizontal() const
Function to flip image horizontally (from left to right).
Definition: Image.cpp:313
bool IsEmpty() const override
Returns true iff the geometry is empty.
Definition: Image.cpp:54
int bytes_per_channel_
Number of bytes per channel.
Definition: Image.h:241
std::shared_ptr< Image > FlipVertical() const
Function to flip image vertically (upside down).
Definition: Image.cpp:298
T * PointerAs() const
Definition: Image.h:165
ImagePyramid CreatePyramid(size_t num_of_levels, bool with_gaussian_filter=true) const
Function to create image pyramid.
Definition: ImageFactory.cpp:145
Eigen::Vector2d GetMaxBound() const override
Returns max bounds for geometry coordinates.
Definition: Image.cpp:58
std::shared_ptr< Image > Transpose() const
Definition: Image.cpp:269
FilterType
Specifies the Image filter type.
Definition: Image.h:72
@ 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.
Image & Prepare(int width, int height, int num_of_channels, int bytes_per_channel)
Prepare Image properties and allocate Image buffer.
Definition: Image.h:114
std::vector< uint8_t > data_
Image storage buffer.
Definition: Image.h:243
std::shared_ptr< Image > CreateImageFromFloatImage() const
Definition: ImageFactory.cpp:123
void AllocateDataBuffer()
Definition: Image.h:229
std::shared_ptr< Image > Filter(Image::FilterType type) const
Function to filter image with pre-defined filtering type.
Definition: Image.cpp:216
ColorToIntensityConversionType
Specifies whether R, G, B channels have the same weight when converting to intensity....
Definition: Image.h:62
@ 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:108
std::shared_ptr< Image > CreateFloatImage(Image::ColorToIntensityConversionType type=Image::ColorToIntensityConversionType::Weighted) const
Return a gray scaled float type image.
Definition: ImageFactory.cpp:63
int width_
Width of the image.
Definition: Image.h:235
~Image() override
Definition: Image.h:88
Image & LinearTransform(double scale=1.0, double offset=0.0)
Definition: Image.cpp:137
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:373
static std::shared_ptr< Image > CreateDepthToCameraDistanceMultiplierFloatImage(const camera::PinholeCameraIntrinsic &intrinsic)
Definition: ImageFactory.cpp:33
Image & ClipIntensity(double min=0.0, double max=1.0)
Definition: Image.cpp:123
int num_of_channels_
Number of chanels in the image.
Definition: Image.h:239
std::pair< bool, double > FloatValueAt(double u, double v) const
Definition: Image.cpp:69
std::shared_ptr< Image > Dilate(int half_kernel_size=1) const
Function to dilate 8bit mask map.
Definition: Image.cpp:339
int height_
Height of the image.
Definition: Image.h:237
Image()
Default Constructor.
Definition: Image.h:87
int BytesPerLine() const
Returns data size per line (row, or the width) in bytes.
Definition: Image.h:127
static ImagePyramid FilterPyramid(const ImagePyramid &input, Image::FilterType type)
Function to filter image pyramid.
Definition: Image.cpp:245
Eigen::Vector2d GetMinBound() const override
Returns min bounds for geometry coordinates.
Definition: Image.cpp:56
std::vector< std::shared_ptr< Image > > ImagePyramid
Typedef and functions for ImagePyramid.
Definition: Image.h:44
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle image_handle timestamp_usec white_balance image_handle k4a_device_configuration_t config device_handle char size_t serial_number_size bool int32_t int32_t int32_t int32_t k4a_color_control_mode_t default_mode value const const k4a_calibration_t calibration char size_t
Definition: K4aPlugin.cpp:738
Definition: PinholeCameraIntrinsic.cpp:35