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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include <cstdio>
#include "open3d/Open3D.h"
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > Image [image filename] [depth filename]");
utility::LogInfo(" The program will :");
utility::LogInfo(" 1) Read 8bit RGB and 16bit depth image");
utility::LogInfo(" 2) Convert RGB image to single channel float image");
utility::LogInfo(" 3) 3x3, 5x5, 7x7 Gaussian filters are applied");
utility::LogInfo(" 4) 3x3 Sobel filter for x-and-y-directions are applied");
utility::LogInfo(" 5) Make image pyramid that includes Gaussian blur and downsampling");
utility::LogInfo(" 6) Will save all the layers in the image pyramid");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char *argv[]) {
using namespace open3d;
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
if (argc != 3 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
const std::string filename_rgb(argv[1]);
const std::string filename_depth(argv[2]);
geometry::Image color_image_8bit;
if (io::ReadImage(filename_rgb, color_image_8bit)) {
utility::LogDebug("RGB image size : {:d} x {:d}",
color_image_8bit.width_, color_image_8bit.height_);
auto gray_image = color_image_8bit.CreateFloatImage();
io::WriteImage("gray.png",
*gray_image->CreateImageFromFloatImage<uint8_t>());
utility::LogDebug("Gaussian Filtering");
auto gray_image_b3 =
gray_image->Filter(geometry::Image::FilterType::Gaussian3);
io::WriteImage("gray_blur3.png",
*gray_image_b3->CreateImageFromFloatImage<uint8_t>());
auto gray_image_b5 =
gray_image->Filter(geometry::Image::FilterType::Gaussian5);
io::WriteImage("gray_blur5.png",
*gray_image_b5->CreateImageFromFloatImage<uint8_t>());
auto gray_image_b7 =
gray_image->Filter(geometry::Image::FilterType::Gaussian7);
io::WriteImage("gray_blur7.png",
*gray_image_b7->CreateImageFromFloatImage<uint8_t>());
utility::LogDebug("Sobel Filtering");
auto gray_image_dx =
gray_image->Filter(geometry::Image::FilterType::Sobel3Dx);
// make [-1,1] to [0,1].
gray_image_dx->LinearTransform(0.5, 0.5);
gray_image_dx->ClipIntensity();
io::WriteImage("gray_sobel_dx.png",
*gray_image_dx->CreateImageFromFloatImage<uint8_t>());
auto gray_image_dy =
gray_image->Filter(geometry::Image::FilterType::Sobel3Dy);
gray_image_dy->LinearTransform(0.5, 0.5);
gray_image_dy->ClipIntensity();
io::WriteImage("gray_sobel_dy.png",
*gray_image_dy->CreateImageFromFloatImage<uint8_t>());
utility::LogDebug("Build Pyramid");
auto pyramid = gray_image->CreatePyramid(4);
for (int i = 0; i < 4; i++) {
auto level = pyramid[i];
auto level_8bit = level->CreateImageFromFloatImage<uint8_t>();
std::string outputname =
"gray_pyramid_level" + std::to_string(i) + ".png";
io::WriteImage(outputname, *level_8bit);
}
} else {
utility::LogWarning("Failed to read {}", filename_rgb);
return 1;
}
geometry::Image depth_image_16bit;
if (io::ReadImage(filename_depth, depth_image_16bit)) {
utility::LogDebug("Depth image size : {:d} x {:d}",
depth_image_16bit.width_, depth_image_16bit.height_);
auto depth_image = depth_image_16bit.CreateFloatImage();
io::WriteImage("depth.png",
*depth_image->CreateImageFromFloatImage<uint16_t>());
utility::LogDebug("Gaussian Filtering");
auto depth_image_b3 =
depth_image->Filter(geometry::Image::FilterType::Gaussian3);
io::WriteImage("depth_blur3.png",
*depth_image_b3->CreateImageFromFloatImage<uint16_t>());
auto depth_image_b5 =
depth_image->Filter(geometry::Image::FilterType::Gaussian5);
io::WriteImage("depth_blur5.png",
*depth_image_b5->CreateImageFromFloatImage<uint16_t>());
auto depth_image_b7 =
depth_image->Filter(geometry::Image::FilterType::Gaussian7);
io::WriteImage("depth_blur7.png",
*depth_image_b7->CreateImageFromFloatImage<uint16_t>());
utility::LogDebug("Sobel Filtering");
auto depth_image_dx =
depth_image->Filter(geometry::Image::FilterType::Sobel3Dx);
// make [-65536,65536] to [0,13107.2]. // todo: need to test this
depth_image_dx->LinearTransform(0.1, 6553.6);
depth_image_dx->ClipIntensity(0.0, 13107.2);
io::WriteImage("depth_sobel_dx.png",
*depth_image_dx->CreateImageFromFloatImage<uint16_t>());
auto depth_image_dy =
depth_image->Filter(geometry::Image::FilterType::Sobel3Dy);
depth_image_dy->LinearTransform(0.1, 6553.6);
depth_image_dx->ClipIntensity(0.0, 13107.2);
io::WriteImage("depth_sobel_dy.png",
*depth_image_dy->CreateImageFromFloatImage<uint16_t>());
utility::LogDebug("Build Pyramid");
auto pyramid = depth_image->CreatePyramid(4);
for (int i = 0; i < 4; i++) {
auto level = pyramid[i];
auto level_16bit = level->CreateImageFromFloatImage<uint16_t>();
std::string outputname =
"depth_pyramid_level" + std::to_string(i) + ".png";
io::WriteImage(outputname, *level_16bit);
}
} else {
utility::LogWarning("Failed to read {}", filename_depth);
return 1;
}
return 0;
}
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