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finish conversions, cleaning core module config
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@SamFlt
SamFlt committed Feb 28, 2024
1 parent 27c431b commit 2b8fc3f
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Showing 4 changed files with 177 additions and 3 deletions.
75 changes: 73 additions & 2 deletions modules/python/bindings/include/core/image_conversions.hpp
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Expand Up @@ -40,6 +40,7 @@
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpImageConvert.h>


namespace
{
using ConversionFunction1D = void(*)(unsigned char *, unsigned char *, unsigned int);
Expand Down Expand Up @@ -300,9 +301,41 @@ void add_rgb_or_rgba_to_hsv_binding(py::class_<vpImageConvert> &pyImageConvert,
}, "Convert from HSV Planes (as a 3 x H x W array) to a an RGB/RGBA array (as an H x W x 3 or H x W x 4 array)", py::arg("rgb"), py::arg("hsv"));
}

}
/* Demosaicing implem */
template <class DataType>
void add_demosaic_to_rgba_fn(py::class_<vpImageConvert> &pyImageConvert, void (*fn)(const DataType *, DataType *, unsigned int, unsigned int, unsigned int), const char *name)
{
pyImageConvert.def_static(name, [fn](py::array_t<DataType, py::array::c_style> &src,
py::array_t<DataType, py::array::c_style> &dest,
unsigned int num_threads) {
py::buffer_info bufsrc = src.request(), bufdest = dest.request();
const unsigned destBytes = 4;

if (bufsrc.ndim != 2 || bufdest.ndim != 3) {
throw std::runtime_error("Expected to have source array with two dimensions and destination RGBA array with 3.");
}
if (bufdest.shape[2] != destBytes) {
std::stringstream ss;
ss << "Target array should be a 3D array of shape (H, W, " << destBytes << ")";
throw std::runtime_error(ss.str());
}
const unsigned height = bufdest.shape[0];
const unsigned width = bufdest.shape[1];
if (bufsrc.shape[0] != height || bufsrc.shape[1] != width) {
std::stringstream ss;
ss << "src and dest must have the same number of pixels, but got source with dimensions (" << height << ", " << width << ")";
ss << "and RGB array with dimensions (" << bufdest.shape[0] << ", " << bufdest.shape[1] << ")";
throw std::runtime_error(ss.str());
}

const DataType *bayer = static_cast<DataType *>(bufsrc.ptr);
DataType *rgba = static_cast<DataType *>(bufdest.ptr);
fn(bayer, rgba, height, width, num_threads);

}, "Demosaic function implementation, see C++ documentation.", py::arg("bayer_data"), py::arg("rgba"), py::arg("num_threads") = 0);
}

}

void bindings_vpImageConvert(py::class_<vpImageConvert> &pyImageConvert)
{
Expand Down Expand Up @@ -338,7 +371,7 @@ void bindings_vpImageConvert(py::class_<vpImageConvert> &pyImageConvert)
}
}

//YUV conversions
// YUV conversions
{
using Conv = ConversionFromYUVLike<ConversionFunction2D>;
std::vector<Conv> conversions = {
Expand Down Expand Up @@ -378,6 +411,7 @@ void bindings_vpImageConvert(py::class_<vpImageConvert> &pyImageConvert)
}
}

// HSV <-> RGB/a
add_hsv_to_rgb_or_rgba_binding<unsigned char>(pyImageConvert, vpImageConvert::HSVToRGB, "HSVToRGB", 3);
add_hsv_to_rgb_or_rgba_binding<double>(pyImageConvert, vpImageConvert::HSVToRGB, "HSVToRGB", 3);
add_hsv_to_rgb_or_rgba_binding<unsigned char>(pyImageConvert, vpImageConvert::HSVToRGBa, "HSVToRGBa", 4);
Expand All @@ -387,6 +421,43 @@ void bindings_vpImageConvert(py::class_<vpImageConvert> &pyImageConvert)
add_rgb_or_rgba_to_hsv_binding<double>(pyImageConvert, vpImageConvert::RGBToHSV, "RGBToHSV", 3);
add_rgb_or_rgba_to_hsv_binding<unsigned char>(pyImageConvert, vpImageConvert::RGBaToHSV, "RGBaToHSV", 4);
add_rgb_or_rgba_to_hsv_binding<double>(pyImageConvert, vpImageConvert::RGBaToHSV, "RGBaToHSV", 4);


// uint8_t implems
{
using DemosaicFn = void (*)(const uint8_t *, uint8_t *, unsigned int, unsigned int, unsigned int);
std::vector<std::pair<DemosaicFn, const char *>> functions = {
{static_cast<DemosaicFn>(&vpImageConvert::demosaicRGGBToRGBaMalvar), "demosaicRGGBToRGBaMalvar"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicGRBGToRGBaMalvar), "demosaicGRBGToRGBaMalvar"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicGBRGToRGBaMalvar), "demosaicGBRGToRGBaMalvar"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicBGGRToRGBaMalvar), "demosaicBGGRToRGBaMalvar"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicRGGBToRGBaBilinear), "demosaicRGGBToRGBaBilinear"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicGRBGToRGBaBilinear), "demosaicGRBGToRGBaBilinear"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicGBRGToRGBaBilinear), "demosaicGBRGToRGBaBilinear"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicBGGRToRGBaBilinear), "demosaicBGGRToRGBaBilinear"}
};
for (const auto &pair: functions) {
add_demosaic_to_rgba_fn(pyImageConvert, pair.first, pair.second);
}
}
//UInt16_t implems
{
using DemosaicFn = void (*)(const uint16_t *, uint16_t *, unsigned int, unsigned int, unsigned int);
std::vector<std::pair<DemosaicFn, const char *>> functions = {
{static_cast<DemosaicFn>(&vpImageConvert::demosaicRGGBToRGBaMalvar), "demosaicRGGBToRGBaMalvar"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicGRBGToRGBaMalvar), "demosaicGRBGToRGBaMalvar"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicGBRGToRGBaMalvar), "demosaicGBRGToRGBaMalvar"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicBGGRToRGBaMalvar), "demosaicBGGRToRGBaMalvar"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicRGGBToRGBaBilinear), "demosaicRGGBToRGBaBilinear"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicGRBGToRGBaBilinear), "demosaicGRBGToRGBaBilinear"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicGBRGToRGBaBilinear), "demosaicGBRGToRGBaBilinear"},
{static_cast<DemosaicFn>(&vpImageConvert::demosaicBGGRToRGBaBilinear), "demosaicBGGRToRGBaBilinear"}
};
for (const auto &pair: functions) {
add_demosaic_to_rgba_fn(pyImageConvert, pair.first, pair.second);
}
}

}

#endif
83 changes: 83 additions & 0 deletions modules/python/config/core.json
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Original file line number Diff line number Diff line change
Expand Up @@ -571,6 +571,89 @@
"static": true,
"signature": "void BGRToRGBa(unsigned char*, unsigned char*, unsigned int, unsigned int, bool)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicBGGRToRGBaBilinear(const uint8_t*, uint8_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicBGGRToRGBaBilinear(const uint16_t*, uint16_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicGBRGToRGBaBilinear(const uint8_t*, uint8_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicGBRGToRGBaBilinear(const uint16_t*, uint16_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicGRBGToRGBaBilinear(const uint8_t*, uint8_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true

},
{
"static": true,
"signature": "void demosaicGRBGToRGBaBilinear(const uint16_t*, uint16_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicRGGBToRGBaBilinear(const uint8_t*, uint8_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicRGGBToRGBaBilinear(const uint16_t*, uint16_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicBGGRToRGBaMalvar(const uint8_t*, uint8_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicBGGRToRGBaMalvar(const uint16_t*, uint16_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicGBRGToRGBaMalvar(const uint8_t*, uint8_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true

},
{
"static": true,
"signature": "void demosaicGBRGToRGBaMalvar(const uint16_t*, uint16_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true

},
{
"static": true,
"signature": "void demosaicGRBGToRGBaMalvar(const uint8_t*, uint8_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicGRBGToRGBaMalvar(const uint16_t*, uint16_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicRGGBToRGBaMalvar(const uint8_t*, uint8_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
},
{
"static": true,
"signature": "void demosaicRGGBToRGBaMalvar(const uint16_t*, uint16_t*, unsigned int, unsigned int, unsigned int)",
"ignore": true
}
]
},
Expand Down
2 changes: 1 addition & 1 deletion modules/python/doc/_templates/custom-class-template.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
:members:
:show-inheritance:
:member-order: groupwise
:inherited-members: pybind11_builtins.pybind11_object
:inherited-members: pybind11_builtins.pybind11_object, pybind11_object
:special-members:

{% block methods %}
Expand Down
20 changes: 20 additions & 0 deletions modules/python/test/test_conversions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -62,3 +62,23 @@ def test_rgb_rgba_to_hsv():
hsv_old = hsv.copy()
case['fn'](rgb, hsv)
assert not np.allclose(hsv, hsv_old)

def test_demosaic():
h, w = 32, 32
fns = [
ImageConvert.demosaicRGGBToRGBaMalvar,
ImageConvert.demosaicGRBGToRGBaMalvar,
ImageConvert.demosaicGBRGToRGBaMalvar,
ImageConvert.demosaicBGGRToRGBaMalvar,
ImageConvert.demosaicRGGBToRGBaBilinear,
ImageConvert.demosaicGRBGToRGBaBilinear,
ImageConvert.demosaicGBRGToRGBaBilinear,
ImageConvert.demosaicBGGRToRGBaBilinear,
]
for fn in fns:
for dtype in [np.uint8, np.uint16]:
bayer_data = np.ones((h, w), dtype=dtype) * 128
rgba = np.empty((h, w, 4), dtype=dtype)
old_rgba = rgba.copy()
fn(bayer_data, rgba)
assert not np.allclose(rgba, old_rgba), f'Error when testing {fn}, with dtype {dtype}'

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