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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/geometry/RGBDImage.h"
#include <vector>
#include "open3d/data/Dataset.h"
#include "open3d/geometry/Image.h"
#include "open3d/io/ImageIO.h"
#include "tests/Tests.h"
namespace open3d {
namespace tests {
TEST(RGBDImage, Constructor) {
geometry::Image image;
geometry::Image color;
const int size = 5;
// test image dimensions
const int image_width = size;
const int image_height = size;
const int image_num_of_channels = 1;
const int image_bytes_per_channel = 1;
const int color_width = size;
const int color_height = size;
const int color_num_of_channels = 3;
const int color_bytes_per_channel = 1;
color.Prepare(color_width, color_height, color_num_of_channels,
color_bytes_per_channel);
image.Prepare(image_width, image_height, image_num_of_channels,
image_bytes_per_channel);
Rand(image.data_, 100, 150, 0);
Rand(color.data_, 130, 200, 0);
auto depth = image.ConvertDepthToFloatImage();
geometry::RGBDImage rgbd_image(color, *depth);
ExpectEQ(color.data_, rgbd_image.color_.data_);
ExpectEQ(depth->data_, rgbd_image.depth_.data_);
}
TEST(RGBDImage, DISABLED_MemberData) { NotImplemented(); }
std::pair<float, float> FloatImageMinMax(const geometry::Image& im) {
if (im.bytes_per_channel_ != 4) {
utility::LogError("im must be a float image.");
}
if (im.width_ * im.height_ == 0) {
return std::make_pair(0.0, 0.0);
}
const float* float_data = reinterpret_cast<const float*>(im.data_.data());
float min_val = float_data[0];
float max_val = float_data[0];
for (int i = 0; i < im.width_ * im.height_ * im.num_of_channels_; i++) {
min_val = std::min(float_data[i], min_val);
max_val = std::max(float_data[i], max_val);
}
return std::make_pair(min_val, max_val);
}
TEST(RGBDImage, CreateFromColorAndDepth) {
geometry::Image im_color;
data::SampleRedwoodRGBDImages redwood_data;
EXPECT_TRUE(io::ReadImage(redwood_data.GetColorPaths()[0], im_color));
EXPECT_EQ(im_color.num_of_channels_, 3);
EXPECT_EQ(im_color.bytes_per_channel_, 1);
geometry::Image im_depth;
EXPECT_TRUE(io::ReadImage(redwood_data.GetDepthPaths()[0], im_depth));
EXPECT_EQ(im_depth.num_of_channels_, 1);
EXPECT_EQ(im_depth.bytes_per_channel_, 2);
std::shared_ptr<geometry::RGBDImage> im_rgbd =
geometry::RGBDImage::CreateFromColorAndDepth(im_color, im_depth);
EXPECT_EQ(im_rgbd->color_.width_, 640);
EXPECT_EQ(im_rgbd->color_.height_, 480);
EXPECT_EQ(im_rgbd->color_.num_of_channels_, 1);
EXPECT_EQ(im_rgbd->color_.bytes_per_channel_, 4);
EXPECT_EQ(im_rgbd->depth_.width_, 640);
EXPECT_EQ(im_rgbd->depth_.height_, 480);
EXPECT_EQ(im_rgbd->depth_.num_of_channels_, 1);
EXPECT_EQ(im_rgbd->depth_.bytes_per_channel_, 4);
// Check data scale and truncation. These values are determined by inputs.
float min_val;
float max_val;
std::tie(min_val, max_val) = FloatImageMinMax(im_rgbd->color_);
EXPECT_FLOAT_EQ(min_val, 0.008207843);
EXPECT_FLOAT_EQ(max_val, 1.0);
std::tie(min_val, max_val) = FloatImageMinMax(im_rgbd->depth_);
EXPECT_FLOAT_EQ(min_val, 0.0);
EXPECT_FLOAT_EQ(max_val, 2.702);
}
TEST(RGBDImage, CreateFromRedwoodFormat) {
geometry::Image im_color;
data::SampleRedwoodRGBDImages redwood_data;
EXPECT_TRUE(io::ReadImage(redwood_data.GetColorPaths()[0], im_color));
EXPECT_EQ(im_color.num_of_channels_, 3);
EXPECT_EQ(im_color.bytes_per_channel_, 1);
geometry::Image im_depth;
EXPECT_TRUE(io::ReadImage(redwood_data.GetDepthPaths()[0], im_depth));
EXPECT_EQ(im_depth.num_of_channels_, 1);
EXPECT_EQ(im_depth.bytes_per_channel_, 2);
std::shared_ptr<geometry::RGBDImage> im_rgbd =
geometry::RGBDImage::CreateFromRedwoodFormat(im_color, im_depth);
EXPECT_EQ(im_rgbd->color_.width_, 640);
EXPECT_EQ(im_rgbd->color_.height_, 480);
EXPECT_EQ(im_rgbd->color_.num_of_channels_, 1);
EXPECT_EQ(im_rgbd->color_.bytes_per_channel_, 4);
EXPECT_EQ(im_rgbd->depth_.width_, 640);
EXPECT_EQ(im_rgbd->depth_.height_, 480);
EXPECT_EQ(im_rgbd->depth_.num_of_channels_, 1);
EXPECT_EQ(im_rgbd->depth_.bytes_per_channel_, 4);
// Check data scale and truncation. These values are determined by inputs.
float min_val;
float max_val;
std::tie(min_val, max_val) = FloatImageMinMax(im_rgbd->color_);
EXPECT_FLOAT_EQ(min_val, 0.008207843);
EXPECT_FLOAT_EQ(max_val, 1.0);
std::tie(min_val, max_val) = FloatImageMinMax(im_rgbd->depth_);
EXPECT_FLOAT_EQ(min_val, 0.0);
EXPECT_FLOAT_EQ(max_val, 2.702);
}
TEST(RGBDImage, CreateFromTUMFormat) {
geometry::Image im_color;
data::SampleTUMRGBDImage tum_data;
EXPECT_TRUE(io::ReadImage(tum_data.GetColorPath(), im_color));
EXPECT_EQ(im_color.num_of_channels_, 3);
EXPECT_EQ(im_color.bytes_per_channel_, 1);
geometry::Image im_depth;
EXPECT_TRUE(io::ReadImage(tum_data.GetDepthPath(), im_depth));
EXPECT_EQ(im_depth.num_of_channels_, 1);
EXPECT_EQ(im_depth.bytes_per_channel_, 2);
std::shared_ptr<geometry::RGBDImage> im_rgbd =
geometry::RGBDImage::CreateFromTUMFormat(im_color, im_depth);
EXPECT_EQ(im_rgbd->color_.width_, 640);
EXPECT_EQ(im_rgbd->color_.height_, 480);
EXPECT_EQ(im_rgbd->color_.num_of_channels_, 1);
EXPECT_EQ(im_rgbd->color_.bytes_per_channel_, 4);
EXPECT_EQ(im_rgbd->depth_.width_, 640);
EXPECT_EQ(im_rgbd->depth_.height_, 480);
EXPECT_EQ(im_rgbd->depth_.num_of_channels_, 1);
EXPECT_EQ(im_rgbd->depth_.bytes_per_channel_, 4);
// Check data scale and truncation. These values are determined by inputs.
float min_val;
float max_val;
std::tie(min_val, max_val) = FloatImageMinMax(im_rgbd->color_);
EXPECT_FLOAT_EQ(min_val, 0.0);
EXPECT_FLOAT_EQ(max_val, 0.99748623);
std::tie(min_val, max_val) = FloatImageMinMax(im_rgbd->depth_);
EXPECT_FLOAT_EQ(min_val, 0.0);
EXPECT_FLOAT_EQ(max_val, 3.994);
}
TEST(RGBDImage, CreateFromSUNFormat) {
geometry::Image im_color;
data::SampleSUNRGBDImage sun_data;
EXPECT_TRUE(io::ReadImage(sun_data.GetColorPath(), im_color));
EXPECT_EQ(im_color.num_of_channels_, 3);
EXPECT_EQ(im_color.bytes_per_channel_, 1);
geometry::Image im_depth;
EXPECT_TRUE(io::ReadImage(sun_data.GetDepthPath(), im_depth));
EXPECT_EQ(im_depth.num_of_channels_, 1);
EXPECT_EQ(im_depth.bytes_per_channel_, 2);
std::shared_ptr<geometry::RGBDImage> im_rgbd =
geometry::RGBDImage::CreateFromSUNFormat(im_color, im_depth);
EXPECT_EQ(im_rgbd->color_.width_, 640);
EXPECT_EQ(im_rgbd->color_.height_, 480);
EXPECT_EQ(im_rgbd->color_.num_of_channels_, 1);
EXPECT_EQ(im_rgbd->color_.bytes_per_channel_, 4);
EXPECT_EQ(im_rgbd->depth_.width_, 640);
EXPECT_EQ(im_rgbd->depth_.height_, 480);
EXPECT_EQ(im_rgbd->depth_.num_of_channels_, 1);
EXPECT_EQ(im_rgbd->depth_.bytes_per_channel_, 4);
// Check data scale and truncation. These values are determined by inputs.
float min_val;
float max_val;
std::tie(min_val, max_val) = FloatImageMinMax(im_rgbd->color_);
EXPECT_FLOAT_EQ(min_val, 0.0);
EXPECT_FLOAT_EQ(max_val, 1.0);
std::tie(min_val, max_val) = FloatImageMinMax(im_rgbd->depth_);
EXPECT_FLOAT_EQ(min_val, 0.0);
EXPECT_FLOAT_EQ(max_val, 6.889);
}
TEST(RGBDImage, CreateFromNYUFormat) {
GTEST_SKIP() << "NYU dataset is in .ppm and .pgm format and needs "
"matplotlib's mpimg reader. CreateFromNYUFormat is similar "
"to other RGBD dataset loader, just with a different "
"scaling and truncation factor.";
}
template <typename T>
static std::vector<T> ImageAsVector(const geometry::Image& im) {
const T* data_ptr = reinterpret_cast<const T*>(im.data_.data());
int num_elements = im.height_ * im.width_ * im.num_of_channels_;
std::vector<T> vals(data_ptr, data_ptr + num_elements);
return vals;
}
TEST(RGBDImage, FilterPyramid) {
int width = 4;
int height = 4;
geometry::Image im_color;
im_color.Prepare(width, height, 3, 4);
float* im_color_data = reinterpret_cast<float*>(im_color.data_.data());
std::vector<float> im_color_val{
0.0, 0.0, 0.0, 0.1, 0.1, 0.1, 0.2, 0.2, 0.2, 0.3, 0.3, 0.3,
0.4, 0.4, 0.4, 0.5, 0.5, 0.5, 0.6, 0.6, 0.6, 0.7, 0.7, 0.7,
0.8, 0.8, 0.8, 0.9, 0.9, 0.9, 1.0, 1.0, 1.0, 1.1, 1.1, 1.1,
1.2, 1.2, 1.2, 1.3, 1.3, 1.3, 1.4, 1.4, 1.4, 1.5, 1.5, 1.5};
std::copy(im_color_val.begin(), im_color_val.end(), im_color_data);
geometry::Image im_depth;
im_depth.Prepare(width, height, 1, 2);
uint16_t* im_depth_data =
reinterpret_cast<uint16_t*>(im_depth.data_.data());
std::vector<uint16_t> im_depth_val{0, 1, 2, 3, 4, 5, 6, 7,
8, 9, 10, 11, 12, 13, 14, 15};
std::copy(im_depth_val.begin(), im_depth_val.end(), im_depth_data);
std::shared_ptr<geometry::RGBDImage> im_rgbd =
geometry::RGBDImage::CreateFromColorAndDepth(im_color, im_depth, 1,
1000, true);
geometry::RGBDImagePyramid pyramid = im_rgbd->CreatePyramid(2, false);
geometry::RGBDImagePyramid pyramid_filtered =
geometry::RGBDImage::FilterPyramid(
pyramid, geometry::Image::FilterType::Sobel3Dx);
ExpectEQ(ImageAsVector<float>(pyramid_filtered[0]->color_),
std::vector<float>({0.4, 0.8, 0.8, 0.4, 0.4, 0.8, 0.8, 0.4, 0.4,
0.8, 0.8, 0.4, 0.4, 0.8, 0.8, 0.4}));
ExpectEQ(ImageAsVector<float>(pyramid_filtered[0]->depth_),
std::vector<float>(
{4, 8, 8, 4, 4, 8, 8, 4, 4, 8, 8, 4, 4, 8, 8, 4}));
ExpectEQ(ImageAsVector<float>(pyramid_filtered[1]->color_),
std::vector<float>({0.8, 0.8, 0.8, 0.8}));
ExpectEQ(ImageAsVector<float>(pyramid_filtered[1]->depth_),
std::vector<float>({8, 8, 8, 8}));
}
TEST(RGBDImage, CreatePyramid) {
int width = 4;
int height = 4;
geometry::Image im_color;
im_color.Prepare(width, height, 3, 4);
float* im_color_data = reinterpret_cast<float*>(im_color.data_.data());
std::vector<float> im_color_val{
0.0, 0.0, 0.0, 0.1, 0.1, 0.1, 0.2, 0.2, 0.2, 0.3, 0.3, 0.3,
0.4, 0.4, 0.4, 0.5, 0.5, 0.5, 0.6, 0.6, 0.6, 0.7, 0.7, 0.7,
0.8, 0.8, 0.8, 0.9, 0.9, 0.9, 1.0, 1.0, 1.0, 1.1, 1.1, 1.1,
1.2, 1.2, 1.2, 1.3, 1.3, 1.3, 1.4, 1.4, 1.4, 1.5, 1.5, 1.5};
std::copy(im_color_val.begin(), im_color_val.end(), im_color_data);
geometry::Image im_depth;
im_depth.Prepare(width, height, 1, 2);
uint16_t* im_depth_data =
reinterpret_cast<uint16_t*>(im_depth.data_.data());
std::vector<uint16_t> im_depth_val{0, 1, 2, 3, 4, 5, 6, 7,
8, 9, 10, 11, 12, 13, 14, 15};
std::copy(im_depth_val.begin(), im_depth_val.end(), im_depth_data);
std::shared_ptr<geometry::RGBDImage> im_rgbd =
geometry::RGBDImage::CreateFromColorAndDepth(im_color, im_depth, 1,
1000, true);
geometry::RGBDImagePyramid pyramid = im_rgbd->CreatePyramid(2, false);
ExpectEQ(ImageAsVector<float>(pyramid[0]->color_),
std::vector<float>({0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8,
0.9, 1.0, 1.1, 1.2, 1.3, 1.4, 1.5}));
ExpectEQ(ImageAsVector<float>(pyramid[0]->depth_),
std::vector<float>(
{0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}));
ExpectEQ(ImageAsVector<float>(pyramid[1]->color_),
std::vector<float>({0.25, 0.45, 1.05, 1.25}));
ExpectEQ(ImageAsVector<float>(pyramid[1]->depth_),
std::vector<float>({2.5, 4.5, 10.5, 12.5}));
}
} // namespace tests
} // namespace open3d
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