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modules/python/bindings/include/core/image_conversions.hpp
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| /* | ||
| * ViSP, open source Visual Servoing Platform software. | ||
| * Copyright (C) 2005 - 2023 by Inria. All rights reserved. | ||
| * | ||
| * This software is free software; you can redistribute it and/or modify | ||
| * it under the terms of the GNU General Public License as published by | ||
| * the Free Software Foundation; either version 2 of the License, or | ||
| * (at your option) any later version. | ||
| * See the file LICENSE.txt at the root directory of this source | ||
| * distribution for additional information about the GNU GPL. | ||
| * | ||
| * For using ViSP with software that can not be combined with the GNU | ||
| * GPL, please contact Inria about acquiring a ViSP Professional | ||
| * Edition License. | ||
| * | ||
| * See https://visp.inria.fr for more information. | ||
| * | ||
| * This software was developed at: | ||
| * Inria Rennes - Bretagne Atlantique | ||
| * Campus Universitaire de Beaulieu | ||
| * 35042 Rennes Cedex | ||
| * France | ||
| * | ||
| * If you have questions regarding the use of this file, please contact | ||
| * Inria at [email protected] | ||
| * | ||
| * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE | ||
| * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. | ||
| * | ||
| * Description: | ||
| * Python bindings. | ||
| */ | ||
|
|
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| #ifndef VISP_PYTHON_CORE_IMAGE_CONVERT_HPP | ||
| #define VISP_PYTHON_CORE_IMAGE_CONVERT_HPP | ||
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| #include <pybind11/pybind11.h> | ||
| #include <pybind11/stl.h> | ||
| #include <pybind11/numpy.h> | ||
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| #include <visp3/core/vpImageConvert.h> | ||
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| namespace | ||
| { | ||
| using ConversionFunction1D = void(*)(unsigned char *, unsigned char *, unsigned int); | ||
| using ConversionFunction2D = void(*)(unsigned char *, unsigned char *, unsigned int, unsigned int); | ||
| using ComputeBytesFunction = unsigned(*)(unsigned int, unsigned int); | ||
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| void call_conversion_fn(ConversionFunction2D fn, unsigned char *src, unsigned char *dest, unsigned int h, unsigned int w) | ||
| { | ||
| fn(src, dest, h, w); | ||
| } | ||
| void call_conversion_fn(ConversionFunction1D fn, unsigned char *src, unsigned char *dest, unsigned int h, unsigned int w) | ||
| { | ||
| fn(src, dest, h * w); | ||
| } | ||
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| template <typename ConversionFn> | ||
| struct SimpleConversionStruct | ||
| { | ||
| SimpleConversionStruct(const std::string &name, ConversionFn fn, unsigned int srcBytesPerPixel, unsigned int destBytesPerPixel) : | ||
| name(name), fn(fn), srcBytesPerPixel(srcBytesPerPixel), destBytesPerPixel(destBytesPerPixel) | ||
| { } | ||
| std::string name; | ||
| ConversionFn fn; | ||
| unsigned int srcBytesPerPixel; | ||
| unsigned int destBytesPerPixel; | ||
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| void add_conversion_binding(py::class_<vpImageConvert> &pyImageConvert) | ||
| { | ||
| pyImageConvert.def_static(name.c_str(), [this](py::array_t<unsigned char, py::array::c_style> &src, | ||
| py::array_t<unsigned char, py::array::c_style> &dest) { | ||
| py::buffer_info bufsrc = src.request(), bufdest = dest.request(); | ||
| if (bufsrc.ndim < 2 || bufdest.ndim < 2) { | ||
| throw std::runtime_error("Expected to have src and dest arrays with at least two dimensions."); | ||
| } | ||
| if (bufsrc.shape[0] != bufdest.shape[0] || bufsrc.shape[1] != bufdest.shape[1]) { | ||
| std::stringstream ss; | ||
| ss << "src and dest must have the same number of pixels, but got src = " << shape_to_string(bufsrc.shape); | ||
| ss << "and dest = " << shape_to_string(bufdest.shape); | ||
| throw std::runtime_error(ss.str()); | ||
| } | ||
| if (srcBytesPerPixel > 1 && (bufsrc.ndim != 3 || bufsrc.shape[2] != srcBytesPerPixel)) { | ||
| std::stringstream ss; | ||
| ss << "Source array should be a 3D array of shape (H, W, " << srcBytesPerPixel << ")"; | ||
| throw std::runtime_error(ss.str()); | ||
| } | ||
| else if (srcBytesPerPixel == 1 && bufsrc.ndim == 3 && bufsrc.shape[2] > 1) { | ||
| throw std::runtime_error("Source array should be a either a 2D array of shape H x W or a 3D array of shape (H, W, 1)"); | ||
| } | ||
| if (destBytesPerPixel > 1 && (bufdest.ndim != 3 || bufdest.shape[2] != destBytesPerPixel)) { | ||
| std::stringstream ss; | ||
| ss << "Destination array should be a 3D array of shape (H, W, " << destBytesPerPixel << ")"; | ||
| throw std::runtime_error(ss.str()); | ||
| } | ||
| else if (destBytesPerPixel == 1 && bufdest.ndim == 3 && bufdest.shape[2] > 1) { | ||
| throw std::runtime_error("Destination should be a either a 2D array of shape H x W or a 3D array of shape (H, W, 1)"); | ||
| } | ||
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| unsigned char *src_ptr = static_cast<unsigned char *>(bufsrc.ptr); | ||
| unsigned char *dest_ptr = static_cast<unsigned char *>(bufdest.ptr); | ||
| call_conversion_fn(fn, src_ptr, dest_ptr, bufsrc.shape[0], bufsrc.shape[1]); | ||
| }, py::arg("src"), py::arg("dest")); | ||
| } | ||
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| }; | ||
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| struct ConversionFromYUVLike | ||
| { | ||
| ConversionFromYUVLike(const std::string &name, ConversionFunction2D fn, ComputeBytesFunction sourceBytesFn, unsigned int destBytesPerPixel) : | ||
| name(name), fn(fn), , destBytesPerPixel(destBytesPerPixel) | ||
| { } | ||
| std::string name; | ||
| ConversionFunction2D fn; | ||
| ComputeBytesFunction sourceBytesFn; | ||
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| unsigned int destBytesPerPixel; | ||
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| void add_conversion_binding(py::class_<vpImageConvert> &pyImageConvert) | ||
| { | ||
| pyImageConvert.def_static(name.c_str(), [this](py::array_t<unsigned char, py::array::c_style> &src, | ||
| py::array_t<unsigned char, py::array::c_style> &dest) { | ||
| py::buffer_info bufsrc = src.request(), bufdest = dest.request(); | ||
| if (bufdest.ndim < 2) { | ||
| throw std::runtime_error("Expected to have dest array with at least two dimensions."); | ||
| } | ||
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| unsigned int height = bufdest.shape[0], width = bufdest.shape[1]; | ||
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| unsigned expectedSourceBytes = sourceBytesFn(height, width); | ||
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| unsigned actualBytes = 1; | ||
| for (unsigned int i = 0; i < bufsrc.ndim; ++i) { | ||
| actualBytes *= bufsrc.shape[i]; | ||
| } | ||
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| if (actualBytes != expectedSourceBytes) { | ||
| std::stringstream ss; | ||
| ss << "Expected to have " << expectedSourceBytes << " bytes in the input array, but got " << actualBytes << " elements."; | ||
| throw std::runtime_error(ss.str()); | ||
| } | ||
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| if (destBytesPerPixel > 1 && (bufdest.ndim != 3 || bufdest.shape[2] != destBytesPerPixel)) { | ||
| std::stringstream ss; | ||
| ss << "Destination array should be a 3D array of shape (H, W, " << destBytesPerPixel << ")"; | ||
| throw std::runtime_error(ss.str()); | ||
| } | ||
| else if (destBytesPerPixel == 1 && bufdest.ndim == 3 && bufdest.shape[2] > 1) { | ||
| throw std::runtime_error("Destination should be a either a 2D array of shape H x W or a 3D array of shape (H, W, 1)"); | ||
| } | ||
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| unsigned char *src_ptr = static_cast<unsigned char *>(bufsrc.ptr); | ||
| unsigned char *dest_ptr = static_cast<unsigned char *>(bufdest.ptr); | ||
| call_conversion_fn(fn, src_ptr, dest_ptr, bufdest.shape[0], bufdest.shape[1]); | ||
| }, py::arg("src"), py::arg("dest")); | ||
| } | ||
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| }; | ||
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| } | ||
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| void bindings_vpImageConvert(py::class_<vpImageConvert> &pyImageConvert) | ||
| { | ||
| // Simple conversions where the size input is a single argument | ||
| { | ||
| std::vector<SimpleConversionStruct<ConversionFunction1D>> conversions = { | ||
| SimpleConversionStruct("YUV444ToGrey", &vpImageConvert::YUV444ToGrey, 3, 1), | ||
| SimpleConversionStruct("YUV444ToRGB", &vpImageConvert::YUV444ToRGB, 3, 3), | ||
| SimpleConversionStruct("YUV444ToRGBa", &vpImageConvert::YUV444ToRGBa, 3, 4), | ||
| SimpleConversionStruct("RGBToRGBa", static_cast<ConversionFunction1D>(&vpImageConvert::RGBToRGBa), 3, 4), | ||
| SimpleConversionStruct("RGBaToRGB", &vpImageConvert::RGBaToRGB, 4, 3), | ||
| SimpleConversionStruct("GreyToRGB", &vpImageConvert::GreyToRGB, 1, 3), | ||
| SimpleConversionStruct("GreyToRGBa", static_cast<ConversionFunction1D>(&vpImageConvert::GreyToRGBa), 1, 4) | ||
| }; | ||
| for (auto &conversion: conversions) { | ||
| conversion.add_conversion_binding(pyImageConvert); | ||
| } | ||
| } | ||
| //Simple conversions where the size input are height and width | ||
| { | ||
| std::vector<SimpleConversionStruct<ConversionFunction2D>> conversions = { | ||
| }; | ||
| for (auto &conversion: conversions) { | ||
| conversion.add_conversion_binding(pyImageConvert); | ||
| } | ||
| } | ||
| //YUV conversions | ||
| { | ||
| std::vector<SimpleConversionStruct<ConversionFunction2D>> conversions = { | ||
| }; | ||
| for (auto &conversion: conversions) { | ||
| conversion.add_conversion_binding(pyImageConvert); | ||
| } | ||
| } | ||
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| } | ||
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| #endif |
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