113 lines
4.9 KiB
C++
Executable File
113 lines
4.9 KiB
C++
Executable File
// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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#include <string>
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#include "open3d/io/ImageIO.h"
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#include "open3d/t/geometry/Image.h"
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namespace open3d {
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namespace t {
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namespace io {
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/// Factory function to create an image from a file (ImageFactory.cpp)
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/// Return an empty image if fail to read the file.
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std::shared_ptr<geometry::Image> CreateImageFromFile(
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const std::string &filename);
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/// The general entrance for reading an Image from a file
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/// The function calls read functions based on the extension name of filename.
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/// \param filename Full path to image. Supported file formats are png,
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/// jpg/jpeg.
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/// \param image An object of type open3d::t::geometry::Image.
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/// \return return true if the read function is successful, false otherwise.
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bool ReadImage(const std::string &filename, geometry::Image &image);
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constexpr int kOpen3DImageIODefaultQuality = -1;
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/// The general entrance for writing an Image to a file
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/// The function calls write functions based on the extension name of filename.
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/// If the write function supports quality, the parameter will be used.
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/// Otherwise it will be ignored.
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/// \param filename Full path to image. Supported file formats are png,
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/// jpg/jpeg.
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/// \param image An object of type open3d::t::geometry::Image.
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/// \param quality: PNG: [0-9] <=2 fast write for storing intermediate data
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/// >=3 (default) normal write for balanced speed and
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/// file size
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/// JPEG: [0-100] Typically in [70,95]. 90 is default (good
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/// quality).
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/// \return return true if the write function is successful, false otherwise.
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///
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/// Supported file extensions are png, jpg/jpeg. Data type and number of
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/// channels depends on the file extension.
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/// - PNG: Dtype should be one of core::UInt8, core::UInt16
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/// Supported number of channels are 1, 3, and 4.
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/// - JPG: Dtyppe should be core::UInt8
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/// Supported number of channels are 1 and 3.
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bool WriteImage(const std::string &filename,
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const geometry::Image &image,
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int quality = kOpen3DImageIODefaultQuality);
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bool ReadImageFromPNG(const std::string &filename, geometry::Image &image);
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bool WriteImageToPNG(const std::string &filename,
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const geometry::Image &image,
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int quality = kOpen3DImageIODefaultQuality);
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bool WriteImageToPNGInMemory(std::vector<uint8_t> &output_buffer,
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const geometry::Image &image,
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int quality = kOpen3DImageIODefaultQuality);
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bool ReadImageFromJPG(const std::string &filename, geometry::Image &image);
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bool WriteImageToJPG(const std::string &filename,
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const geometry::Image &image,
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int quality = kOpen3DImageIODefaultQuality);
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/// Simulate depth image noise from a given noise distortion model. The
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/// distortion model is based on *Teichman et. al. "Unsupervised intrinsic
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/// calibration of depth sensors via SLAM" RSS 2009*. Also see
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/// [Redwood dataset](http://redwood-data.org/indoor/dataset.html)
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class DepthNoiseSimulator {
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public:
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/// \brief Constructor.
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/// \param noise_model Path to the noise model file. See
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/// http://redwood-data.org/indoor/dataset.html for the format. Or, you may
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/// use one of our example datasets, e.g., RedwoodIndoorLivingRoom1.
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explicit DepthNoiseSimulator(const std::string &noise_model_path);
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/// \brief Apply noise model to a depth image.
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///
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/// \param im_src Source depth image, must be with dtype UInt16 or
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/// Float32, channels==1.
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/// \param depth_scale Scale factor to the depth image. As a sanity check,
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/// if the dtype is Float32, the depth_scale must be 1.0. If the dtype is
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/// is UInt16, the depth_scale is typically larger than 1.0, e.g. it can be
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/// 1000.0.
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/// \return Noisy depth image with the same shape and dtype as \p im_src.
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geometry::Image Simulate(const geometry::Image &im_src,
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float depth_scale = 1000.0);
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/// \brief Return the noise model.
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core::Tensor GetNoiseModel() const { return model_; }
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/// \brief Enable deterministic debug mode. All normally distributed noise
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/// will be replaced by 0.
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void EnableDeterministicDebugMode() { deterministic_debug_mode_ = true; }
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private:
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core::Tensor model_; // ndims==3
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bool deterministic_debug_mode_ = false;
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};
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} // namespace io
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} // namespace t
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} // namespace open3d
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