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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "tests/pipelines/odometry/OdometryTools.h"
namespace open3d {
namespace tests {
std::shared_ptr<geometry::Image> odometry_tools::GenerateImage(
const int& width,
const int& height,
const int& num_of_channels,
const int& bytes_per_channel,
const float& vmin,
const float& vmax,
const int& seed) {
std::shared_ptr<geometry::Image> image =
std::make_shared<geometry::Image>();
image->Prepare(width, height, num_of_channels, bytes_per_channel);
float* const depthData = image->PointerAs<float>();
Rand(depthData, width * height, vmin, vmax, seed);
return image;
}
// ----------------------------------------------------------------------------
// Shift the pixels left with a specified step.
// ----------------------------------------------------------------------------
void odometry_tools::ShiftLeft(std::shared_ptr<geometry::Image> image,
const int& step) {
int width = image->width_;
int height = image->height_;
// int num_of_channels = image->num_of_channels_;
// int bytes_per_channel = image->bytes_per_channel_;
float* const float_data = image->PointerAs<float>();
for (int h = 0; h < height; h++)
for (int w = 0; w < width; w++)
float_data[h * width + w] =
float_data[h * width + (w + step) % width];
}
// ----------------------------------------------------------------------------
// Shift the pixels up with a specified step.
// ----------------------------------------------------------------------------
void odometry_tools::ShiftUp(std::shared_ptr<geometry::Image> image,
const int& step) {
int width = image->width_;
int height = image->height_;
// int num_of_channels = image->num_of_channels_;
// int bytes_per_channel = image->bytes_per_channel_;
float* const float_data = image->PointerAs<float>();
for (int h = 0; h < height; h++)
for (int w = 0; w < width; w++)
float_data[h * width + w] =
float_data[((h + step) % height) * width + w];
}
// ----------------------------------------------------------------------------
// Create dummy correspondence map object.
// ----------------------------------------------------------------------------
std::shared_ptr<geometry::Image> odometry_tools::CorrespondenceMap(
const int& width,
const int& height,
const int& vmin,
const int& vmax,
const int& seed) {
int num_of_channels = 2;
int bytes_per_channel = 4;
std::shared_ptr<geometry::Image> image =
std::make_shared<geometry::Image>();
image->Prepare(width, height, num_of_channels, bytes_per_channel);
int* const int_data = image->PointerAs<int>();
size_t image_size = image->data_.size() / sizeof(int);
Rand(int_data, image_size, vmin, vmax, seed);
return image;
}
// ----------------------------------------------------------------------------
// Create dummy depth buffer object.
// ----------------------------------------------------------------------------
std::shared_ptr<geometry::Image> odometry_tools::DepthBuffer(const int& width,
const int& height,
const float& vmin,
const float& vmax,
const int& seed) {
int num_of_channels = 1;
int bytes_per_channel = 4;
std::shared_ptr<geometry::Image> image =
std::make_shared<geometry::Image>();
image->Prepare(width, height, num_of_channels, bytes_per_channel);
float* const float_data = image->PointerAs<float>();
size_t image_size = image->data_.size() / sizeof(float);
Rand(float_data, image_size, vmin, vmax, seed);
return image;
}
} // namespace tests
} // namespace open3d
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