Image.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
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// The MIT License (MIT)
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// Copyright (c) 2018 www.open3d.org
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#pragma once

#include <limits>
#include <memory>
#include <string>
#include <vector>

#include "open3d/core/Dtype.h"
#include "open3d/core/Tensor.h"
#include "open3d/core/kernel/UnaryEW.h"
#include "open3d/geometry/Image.h"
#include "open3d/t/geometry/Geometry.h"

namespace open3d {
namespace t {
namespace geometry {

class Image : public Geometry {
public:
    Image(int64_t rows = 0,
          int64_t cols = 0,
          int64_t channels = 1,
          core::Dtype dtype = core::Dtype::Float32,
          const core::Device &device = core::Device("CPU:0"));

    Image(const core::Tensor &tensor);

    virtual ~Image() override {}

public:
    Image &Clear() override {
        data_ = core::Tensor({0, 0, GetChannels()}, GetDtype(), GetDevice());
        return *this;
    }

    bool IsEmpty() const override {
        return GetRows() * GetCols() * GetChannels() == 0;
    }

    Image &Reset(int64_t rows = 0,
                 int64_t cols = 0,
                 int64_t channels = 1,
                 core::Dtype dtype = core::Dtype::Float32,
                 const core::Device &device = core::Device("CPU:0"));

public:
    int64_t GetRows() const { return data_.GetShape()[0]; }

    int64_t GetCols() const { return data_.GetShape()[1]; }

    int64_t GetChannels() const { return data_.GetShape()[2]; }

    core::Dtype GetDtype() const { return data_.GetDtype(); }

    core::Device GetDevice() const { return data_.GetDevice(); }

    core::Tensor At(int64_t r, int64_t c) const {
        if (GetChannels() == 1) {
            return data_[r][c][0];
        } else {
            return data_[r][c];
        }
    }

    core::Tensor At(int64_t r, int64_t c, int64_t ch) const {
        return data_[r][c][ch];
    }

    void *GetDataPtr() { return data_.GetDataPtr(); }

    const void *GetDataPtr() const { return data_.GetDataPtr(); }

    core::Tensor AsTensor() const { return data_; }

    Image To(const core::Device &device, bool copy = false) const {
        return Image(data_.To(device, copy));
    }

    Image Clone() const { return To(GetDevice(), /*copy=*/true); }

    Image CPU() const { return To(core::Device("CPU:0")); }

    Image CUDA(int device_id = 0) const {
        return To(core::Device(core::Device::DeviceType::CUDA, device_id));
    }

    Image To(core::Dtype dtype,
             bool copy = false,
             utility::optional<double> scale = utility::nullopt,
             double offset = 0.0) const;

    Image &LinearTransform(double scale = 1.0, double offset = 0.0) {
        To(GetDtype(), false, scale, offset);
        return *this;
    }

    Image RGBToGray() const;

    enum class InterpType {
        Nearest = 0,  
        Linear = 1,   
        Cubic = 2,    
        Lanczos = 3,  
        Super = 4     
    };
    Image Resize(float sampling_rate = 0.5f,
                 InterpType interp_type = InterpType::Nearest) const;

    Image Dilate(int kernel_size = 3) const;

    Image Filter(const core::Tensor &kernel) const;

    Image FilterBilateral(int kernel_size = 3,
                          float value_sigma = 20.0f,
                          float distance_sigma = 10.0f) const;

    Image FilterGaussian(int kernel_size = 3, float sigma = 1.0f) const;

    std::pair<Image, Image> FilterSobel(int kernel_size = 3) const;

    Image PyrDown() const;

    Image PyrDownDepth(float diff_threshold, float invalid_fill = 0.f) const;

    Image ClipTransform(float scale,
                        float min_value,
                        float max_value,
                        float clip_fill = 0.0f) const;

    Image CreateVertexMap(const core::Tensor &intrinsics,
                          float invalid_fill = 0.0f);

    Image CreateNormalMap(float invalid_fill = 0.0f);

    Image ColorizeDepth(float scale, float min_value, float max_value);

    core::Tensor GetMinBound() const {
        return core::Tensor::Zeros({2}, core::Dtype::Int64);
    }

    core::Tensor GetMaxBound() const {
        return core::Tensor(std::vector<int64_t>{GetRows(), GetCols()}, {2},
                            core::Dtype::Int64);
    }

    static Image FromLegacyImage(
            const open3d::geometry::Image &image_legacy,
            const core::Device &Device = core::Device("CPU:0"));

    open3d::geometry::Image ToLegacyImage() const;

    std::string ToString() const;

#ifdef WITH_IPPICV
    static constexpr bool HAVE_IPPICV = true;
#else
    static constexpr bool HAVE_IPPICV = false;
#endif

protected:
    core::Tensor data_;
};

}  // namespace geometry
}  // namespace t
}  // namespace open3d