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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/geometry/Image.h"
#include "open3d/geometry/RGBDImage.h"
#include "pybind/docstring.h"
#include "pybind/geometry/geometry.h"
#include "pybind/geometry/geometry_trampoline.h"
namespace open3d {
namespace geometry {
// Image functions have similar arguments, thus the arg docstrings may be shared
static const std::unordered_map<std::string, std::string>
map_shared_argument_docstrings = {
{"color", "The color image."},
{"convert_rgb_to_intensity",
"Whether to convert RGB image to intensity image."},
{"depth", "The depth image."},
{"depth_scale",
"The ratio to scale depth values. The depth values will first "
"be scaled and then truncated."},
{"depth_trunc",
"Depth values larger than ``depth_trunc`` gets truncated to "
"0. The depth values will first be scaled and then "
"truncated."},
{"filter_type", "The filter type to be applied."},
{"image", "The Image object."},
{"image_pyramid", "The ImagePyramid object"},
{"num_of_levels ", "Levels of the image pyramid"},
{"with_gaussian_filter",
"When ``True``, image in the pyramid will first be filtered "
"by a 3x3 Gaussian kernel before downsampling."}};
void pybind_image_declarations(py::module &m) {
py::enum_<Image::FilterType> image_filter_type(m, "ImageFilterType");
image_filter_type.value("Gaussian3", Image::FilterType::Gaussian3)
.value("Gaussian5", Image::FilterType::Gaussian5)
.value("Gaussian7", Image::FilterType::Gaussian7)
.value("Sobel3dx", Image::FilterType::Sobel3Dx)
.value("Sobel3dy", Image::FilterType::Sobel3Dy)
.export_values();
image_filter_type.attr("__doc__") = docstring::static_property(
py::cpp_function([](py::handle arg) -> std::string {
return "Enum class for Image filter types.";
}),
py::none(), py::none(), "");
py::class_<Image, PyGeometry2D<Image>, std::shared_ptr<Image>, Geometry2D>
image(m, "Image", py::buffer_protocol(),
"The image class stores image with customizable width, "
"height, num of channels and bytes per channel.");
py::class_<RGBDImage, PyGeometry2D<RGBDImage>, std::shared_ptr<RGBDImage>,
Geometry2D>
rgbd_image(m, "RGBDImage",
"RGBDImage is for a pair of registered color and depth "
"images, viewed from the same view, of the same "
"resolution. If you have other format, convert it "
"first.");
}
void pybind_image_definitions(py::module &m) {
auto image = static_cast<py::class_<Image, PyGeometry2D<Image>,
std::shared_ptr<Image>, Geometry2D>>(
m.attr("Image"));
py::detail::bind_default_constructor<Image>(image);
py::detail::bind_copy_functions<Image>(image);
image.def(py::init([](py::buffer b) {
py::buffer_info info = b.request();
int width, height, num_of_channels = 0, bytes_per_channel;
if (info.format == py::format_descriptor<uint8_t>::format() ||
info.format == py::format_descriptor<int8_t>::format()) {
bytes_per_channel = 1;
} else if (info.format ==
py::format_descriptor<uint16_t>::format() ||
info.format ==
py::format_descriptor<int16_t>::format()) {
bytes_per_channel = 2;
} else if (info.format == py::format_descriptor<float>::format()) {
bytes_per_channel = 4;
} else {
throw std::runtime_error(
"Image can only be initialized from buffer of uint8, "
"uint16, or float!");
}
if (info.strides[info.ndim - 1] != bytes_per_channel) {
throw std::runtime_error(
"Image can only be initialized from c-style buffer.");
}
if (info.ndim == 2) {
num_of_channels = 1;
} else if (info.ndim == 3) {
num_of_channels = (int)info.shape[2];
}
height = (int)info.shape[0];
width = (int)info.shape[1];
if (info.strides[1] != num_of_channels * bytes_per_channel ||
info.strides[0] !=
width * num_of_channels * bytes_per_channel) {
throw std::runtime_error(
"Image can only be initialized from a contiguous "
"buffer.");
}
auto img = new Image();
img->Prepare(width, height, num_of_channels, bytes_per_channel);
memcpy(img->data_.data(), info.ptr, img->data_.size());
return img;
}))
.def_buffer([](Image &img) -> py::buffer_info {
std::string format;
switch (img.bytes_per_channel_) {
case 1:
format = py::format_descriptor<uint8_t>::format();
break;
case 2:
format = py::format_descriptor<uint16_t>::format();
break;
case 4:
format = py::format_descriptor<float>::format();
break;
default:
throw std::runtime_error(
"Image has unrecognized bytes_per_channel.");
break;
}
if (img.num_of_channels_ == 1) {
return py::buffer_info(
img.data_.data(), img.bytes_per_channel_, format, 2,
{static_cast<unsigned long>(img.height_),
static_cast<unsigned long>(img.width_)},
{static_cast<unsigned long>(img.bytes_per_channel_ *
img.num_of_channels_ *
img.width_),
static_cast<unsigned long>(img.bytes_per_channel_ *
img.num_of_channels_)});
} else {
return py::buffer_info(
img.data_.data(), img.bytes_per_channel_, format, 3,
{static_cast<unsigned long>(img.height_),
static_cast<unsigned long>(img.width_),
static_cast<unsigned long>(img.num_of_channels_)},
{static_cast<unsigned long>(img.bytes_per_channel_ *
img.num_of_channels_ *
img.width_),
static_cast<unsigned long>(img.bytes_per_channel_ *
img.num_of_channels_),
static_cast<unsigned long>(
img.bytes_per_channel_)});
}
})
.def("__repr__",
[](const Image &img) {
return std::string("Image of size ") +
std::to_string(img.width_) + std::string("x") +
std::to_string(img.height_) + ", with " +
std::to_string(img.num_of_channels_) +
std::string(
" channels.\nUse numpy.asarray to access "
"buffer "
"data.");
})
.def(
"filter",
[](const Image &input, Image::FilterType filter_type) {
if (input.num_of_channels_ != 1 ||
input.bytes_per_channel_ != 4) {
auto input_f = input.CreateFloatImage();
auto output = input_f->Filter(filter_type);
return *output;
} else {
auto output = input.Filter(filter_type);
return *output;
}
},
"Function to filter Image", "filter_type"_a)
.def("flip_vertical", &Image::FlipVertical,
"Function to flip image vertically (upside down)")
.def("flip_horizontal", &Image::FlipHorizontal,
"Function to flip image horizontally (from left to right)")
.def(
"create_pyramid",
[](const Image &input, size_t num_of_levels,
bool with_gaussian_filter) {
if (input.num_of_channels_ != 1 ||
input.bytes_per_channel_ != 4) {
auto input_f = input.CreateFloatImage();
auto output = input_f->CreatePyramid(
num_of_levels, with_gaussian_filter);
return output;
} else {
auto output = input.CreatePyramid(
num_of_levels, with_gaussian_filter);
return output;
}
},
"Function to create ImagePyramid", "num_of_levels"_a,
"with_gaussian_filter"_a)
.def_static(
"filter_pyramid",
[](const ImagePyramid &input,
Image::FilterType filter_type) {
auto output = Image::FilterPyramid(input, filter_type);
return output;
},
"Function to filter ImagePyramid", "image_pyramid"_a,
"filter_type"_a);
docstring::ClassMethodDocInject(m, "Image", "filter",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "Image", "create_pyramid",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "Image", "filter_pyramid",
map_shared_argument_docstrings);
auto rgbd_image =
static_cast<py::class_<RGBDImage, PyGeometry2D<RGBDImage>,
std::shared_ptr<RGBDImage>, Geometry2D>>(
m.attr("RGBDImage"));
py::detail::bind_default_constructor<RGBDImage>(rgbd_image);
rgbd_image
.def_readwrite("color", &RGBDImage::color_,
"open3d.geometry.Image: The color image.")
.def_readwrite("depth", &RGBDImage::depth_,
"open3d.geometry.Image: The depth image.")
.def("__repr__",
[](const RGBDImage &rgbd_image) {
return std::string("RGBDImage of size \n") +
std::string("Color image : ") +
std::to_string(rgbd_image.color_.width_) +
std::string("x") +
std::to_string(rgbd_image.color_.height_) +
", with " +
std::to_string(rgbd_image.color_.num_of_channels_) +
std::string(" channels.\n") +
std::string("Depth image : ") +
std::to_string(rgbd_image.depth_.width_) +
std::string("x") +
std::to_string(rgbd_image.depth_.height_) +
", with " +
std::to_string(rgbd_image.depth_.num_of_channels_) +
std::string(" channels.\n") +
std::string(
"Use numpy.asarray to access buffer data.");
})
.def_static("create_from_color_and_depth",
&RGBDImage::CreateFromColorAndDepth,
"Function to make RGBDImage from color and depth image",
"color"_a, "depth"_a, "depth_scale"_a = 1000.0,
"depth_trunc"_a = 3.0,
"convert_rgb_to_intensity"_a = true)
.def_static("create_from_redwood_format",
&RGBDImage::CreateFromRedwoodFormat,
"Function to make RGBDImage (for Redwood format)",
"color"_a, "depth"_a,
"convert_rgb_to_intensity"_a = true)
.def_static(
"create_from_tum_format", &RGBDImage::CreateFromTUMFormat,
"Function to make RGBDImage (for TUM format)", "color"_a,
"depth"_a, "convert_rgb_to_intensity"_a = true)
.def_static(
"create_from_sun_format", &RGBDImage::CreateFromSUNFormat,
"Function to make RGBDImage (for SUN format)", "color"_a,
"depth"_a, "convert_rgb_to_intensity"_a = true)
.def_static(
"create_from_nyu_format", &RGBDImage::CreateFromNYUFormat,
"Function to make RGBDImage (for NYU format)", "color"_a,
"depth"_a, "convert_rgb_to_intensity"_a = true);
docstring::ClassMethodDocInject(m, "RGBDImage",
"create_from_color_and_depth",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "RGBDImage",
"create_from_redwood_format",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "RGBDImage", "create_from_tum_format",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "RGBDImage", "create_from_sun_format",
map_shared_argument_docstrings);
docstring::ClassMethodDocInject(m, "RGBDImage", "create_from_nyu_format",
map_shared_argument_docstrings);
}
} // namespace geometry
} // namespace open3d
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