sophus2: image proto + some API updates

.github/workflows/build.yml

@@ -67,7 +67,7 @@ jobs:
       with:
         path: ${{runner.workspace}}/Pangolin/Sophus
         repository: 'strasdat/Sophus'
-        ref: 5cb40f05e84ab5b8cc05ff1e1ae080bc9b61bed2
+        ref: a4070695b4bca492647a7966e4cb50f90a44ec95
 
     - name: Checkout Pangolin
       uses: actions/checkout@v2

components/pango_context/src/context.cpp

@@ -430,7 +430,8 @@ struct ContextImpl : public Context {
     const auto maybe_gl_pixel_type = glTypeInfo(pixel_type);
     const GlFormatInfo gl_pixel_type = SOPHUS_UNWRAP(maybe_gl_pixel_type);
 
-    IntensityImage<> image(ImageSize(imsize[0], imsize[1]), pixel_type);
+    auto image = IntensityImage<>::fromFormat(
+        ImageSize(imsize[0], imsize[1]), pixel_type);
 
     glBindFramebuffer(GL_FRAMEBUFFER_EXT, 0);
     glDrawBuffer(GL_FRONT);

components/pango_context/src/gl_drawable/gl_drawn_image.cpp

@@ -35,7 +35,7 @@ struct GlDrawnImage : public DrawnImage {
     if (color_transform) {
       u_color_transform = color_transform->cast<float>();
     } else if (
-        image->pixelFormat().num_channels == 1 &&
+        image->pixelFormat().num_components == 1 &&
         u_colormap_index.getValue() == Palette::none) {
       u_color_transform =
           (Eigen::Matrix4f() << 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1)

components/pango_context/src/gl_drawable/gl_drawn_primitives.cpp

@@ -201,7 +201,7 @@ struct GlDrawnPrimitives : public DrawnPrimitives {
 
       for (int i = 0; i < 4; ++i) {
         vao.addVertexAttrib(
-            location_vertex + i, *vertices, i * data_type.bytesPerPixel());
+            location_vertex + i, *vertices, i * data_type.numBytesPerPixel());
       }
 
       PANGO_GL(glDrawArrays(GL_POINTS, 0, vertices->size() - 3));

components/pango_image/src/image_io_jpg.cpp

@@ -191,7 +191,7 @@ IntensityImage<> LoadJpg(std::istream& is)
     // resize storage if necessary
     PixelFormat fmt =
         PixelFormatFromString(cinfo.output_components == 3 ? "RGB24" : "GRAY8");
-    image = sophus::IntensityImage<>(
+    image = sophus::IntensityImage<>::fromFormat(
         ImageSize(cinfo.output_width, cinfo.output_height), fmt);
     JSAMPARRAY imageBuffer = (*cinfo.mem->alloc_sarray)(
         (j_common_ptr)&cinfo, JPOOL_IMAGE,
@@ -289,7 +289,7 @@ void SaveJpg(const IntensityImage<>& img, std::ostream& os, float quality)
   if (img.numChannels() != 1 && img.numChannels() != 3) {
     throw std::runtime_error("Unsupported number of image channels.");
   }
-  if (img.numBytesPerPixelChannel() != 1) {
+  if (img.pixelFormat().num_bytes_per_component != 1) {
     throw std::runtime_error("Unsupported image depth.");
   }
 

components/pango_image/src/image_io_lz4.cpp

@@ -80,8 +80,9 @@ IntensityImage<> LoadLz4(std::istream& in)
   lz4_image_header header;
   in.read((char*)&header, sizeof(header));
 
-  IntensityImage<> img(
+  auto img = IntensityImage<>::fromFormat(
       ImageSize(header.w, header.h), PixelFormatFromString(header.fmt));
+
   std::unique_ptr<char[]> input_buffer(new char[header.compressed_size]);
 
   in.read(input_buffer.get(), header.compressed_size);

components/pango_image/src/image_io_packed12bit.cpp

@@ -19,7 +19,7 @@ struct packed12bit_image_header {
 
 void SavePacked12bit(const IntensityImage<>& image, std::ostream& out)
 {
-  if (image.numBytesPerPixelChannel() != 2) {
+  if (image.pixelFormat().num_bytes_per_component != 2) {
     throw std::runtime_error(
         "packed12bit currently only supported with 16bit input image");
   }
@@ -62,10 +62,10 @@ IntensityImage<> LoadPacked12bit(std::istream& in)
   packed12bit_image_header header;
   in.read((char*)&header, sizeof(header));
 
-  IntensityImage<> img(
+  auto img = IntensityImage<>::fromFormat(
       sophus::ImageSize(header.w, header.h), PixelFormatFromString(header.fmt));
 
-  if (img.numBytesPerPixelChannel() != 2) {
+  if (img.pixelFormat().num_bytes_per_component != 2) {
     throw std::runtime_error(
         "packed12bit currently only supported with 16bit input image");
   }

components/pango_image/src/image_io_png.cpp

@@ -136,7 +136,7 @@ IntensityImage<> LoadPng(std::istream& source)
 
   auto shape = sophus::ImageLayout::makeFromSizeAndPitch<uint8_t>(
       sophus::ImageSize(w, h), pitch);
-  IntensityImage<> img(shape, PngFormat(png_ptr, info_ptr));
+  auto img = IntensityImage<>::fromFormat(shape, PngFormat(png_ptr, info_ptr));
 
   png_bytepp rows = png_get_rows(png_ptr, info_ptr);
   for (unsigned int r = 0; r < h; r++) {
@@ -191,7 +191,7 @@ void SavePng(
       png_ptr, (png_voidp)&stream, pango_png_stream_write,
       pango_png_stream_write_flush);
 
-  const int bit_depth = image.numBytesPerPixelChannel() * 8;
+  const int bit_depth = image.pixelFormat().num_bytes_per_component * 8;
 
   int colour_type;
   switch (image.numChannels()) {

components/pango_image/src/image_io_ppm.cpp

@@ -48,7 +48,7 @@ IntensityImage<> LoadPpm(std::istream& in)
   in.ignore(1, '\n');
 
   if (!in.fail() && w > 0 && h > 0) {
-    IntensityImage<> img(
+    auto img = IntensityImage<>::fromFormat(
         sophus::ImageSize(w, h), PpmFormat(ppm_type, num_colors));
 
     // Read in data

components/pango_image/src/image_io_raw.cpp

@@ -14,7 +14,7 @@ IntensityImage<> LoadImageNonPlanar(
 {
   ImageLayout shape = ImageLayout::makeFromSizeAndPitch<uint8_t>(
       ImageSize(raw_width, raw_height), raw_pitch);
-  IntensityImage<> img(shape, raw_fmt);
+  auto img = IntensityImage<>::fromFormat(shape, raw_fmt);
 
   // Read from file, row at a time.
   std::ifstream bFile(filename.c_str(), std::ios::in | std::ios::binary);
@@ -33,11 +33,11 @@ template <typename Tin, typename Tout>
 IntensityImage<> ToNonPlanarT(const IntensityImageView& planar_image)
 {
   PixelFormat new_fmt = PixelFormat::fromTemplate<Tout>();
-  const size_t planes = new_fmt.num_channels;
+  const size_t planes = new_fmt.num_components;
 
   PANGO_ENSURE(planar_image.height() % planes == 0);
   PANGO_ENSURE(sizeof(Tin) * planes == sizeof(Tout));
-  PANGO_ENSURE(sizeof(Tout) == new_fmt.bytesPerPixel());
+  PANGO_ENSURE(sizeof(Tout) == new_fmt.numBytesPerPixel());
 
   ImageView<Tin> in = planar_image.imageView<Tin>();
   MutImage<Tout> out(

components/pango_image/src/image_io_tga.cpp

@@ -40,7 +40,7 @@ IntensityImage<> LoadTga(std::istream& in)
   const int height = info[2] + (info[3] * 256);
 
   if (in.good()) {
-    IntensityImage<> img(
+    auto img = IntensityImage<>::fromFormat(
         sophus::ImageSize(width, height), TgaFormat(info[4], type[2], type[1]));
 
     // read in image data

components/pango_image/src/image_io_tiff.cpp

@@ -80,7 +80,7 @@ IntensityImage<> LoadTiff(const std::string& filename)
           "image_io_tiff.cpp.");
   }
 
-  IntensityImage<> image(
+  auto image = IntensityImage<>::fromFormat(
       sophus::ImageSize(width, height), PixelFormatFromString(sfmt.c_str()));
   const tsize_t scanlength_bytes = TIFFScanlineSize(tif);
   if (scanlength_bytes != tsize_t(image.pitchBytes()))

components/pango_image/src/image_io_zstd.cpp

@@ -57,8 +57,9 @@ void SaveZstd(
       ZSTD_isError(initResult), "ZSTD_initCStream() error : {}",
       ZSTD_getErrorName(initResult));
 
-  const size_t row_size_bytes =
-      image.numChannels() * image.numBytesPerPixelChannel() * image.width();
+  const size_t row_size_bytes = image.numChannels() *
+                                image.pixelFormat().num_bytes_per_component *
+                                image.width();
 
   for (int y = 0; y < image.height(); ++y) {
     ZSTD_inBuffer input = {image.rawRowPtr(y), row_size_bytes, 0};
@@ -98,7 +99,7 @@ IntensityImage<> LoadZstd(std::istream& in)
   zstd_image_header header;
   in.read((char*)&header, sizeof(header));
 
-  IntensityImage<> img(
+  auto img = IntensityImage<>::fromFormat(
       ImageSize(header.w, header.h), PixelFormatFromString(header.fmt));
 
   const size_t input_buffer_size = ZSTD_DStreamInSize();

components/pango_opengl/include/pangolin/gl/gl.hpp

@@ -256,67 +256,82 @@ inline void GlTexture::Download(sophus::IntensityImage<>& image) const
 
   switch (internal_format) {
     case GL_LUMINANCE8:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("GRAY8"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("GRAY8"));
       Download(unsafe_ptr, GL_RED, GL_UNSIGNED_BYTE);
       break;
     case GL_LUMINANCE16:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("GRAY16LE"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("GRAY16LE"));
       Download(unsafe_ptr, GL_RED, GL_UNSIGNED_SHORT);
       break;
     case GL_RGB8:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("RGB24"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("RGB24"));
       Download(unsafe_ptr, GL_RGB, GL_UNSIGNED_BYTE);
       break;
     case GL_RGBA8:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("RGBA32"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("RGBA32"));
       Download(unsafe_ptr, GL_RGBA, GL_UNSIGNED_BYTE);
       break;
     case GL_RED_INTEGER:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("GRAY32"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("GRAY32"));
       Download(unsafe_ptr, GL_RED, GL_UNSIGNED_INT);
       break;
     case GL_LUMINANCE:
     case GL_LUMINANCE32F_ARB:
     case GL_R32F:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("GRAY32F"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("GRAY32F"));
       Download(unsafe_ptr, GL_RED, GL_FLOAT);
       break;
     case GL_RGB16:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("RGB48"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("RGB48"));
       Download(unsafe_ptr, GL_RGB, GL_UNSIGNED_SHORT);
       break;
     case GL_RGBA16:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("RGBA64"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("RGBA64"));
       Download(unsafe_ptr, GL_RGBA, GL_UNSIGNED_SHORT);
       break;
     case GL_RGB16F:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("RGB48F"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("RGB48F"));
       Download(unsafe_ptr, GL_RGB, GL_HALF_FLOAT);
       break;
     case GL_RGBA16F:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("RGBA64F"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("RGBA64F"));
       Download(unsafe_ptr, GL_RGBA, GL_HALF_FLOAT);
       break;
     case GL_RGB:
     case GL_RGB32F:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("RGB96F"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("RGB96F"));
       Download(unsafe_ptr, GL_RGB, GL_FLOAT);
       break;
     case GL_RGBA:
     case GL_RGBA32F:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("RGBA128F"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("RGBA128F"));
       Download(unsafe_ptr, GL_RGBA, GL_FLOAT);
       break;
     case GL_DEPTH_COMPONENT16:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("GRAY16LE"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("GRAY16LE"));
       Download(unsafe_ptr, GL_DEPTH_COMPONENT, GL_UNSIGNED_SHORT);
       break;
     case GL_DEPTH_COMPONENT24:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("GRAY32"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("GRAY32"));
       Download(unsafe_ptr, GL_DEPTH_COMPONENT, GL_UNSIGNED_INT);
       break;
     case GL_DEPTH_COMPONENT32F:
-      image = sophus::IntensityImage<>(size, PixelFormatFromString("GRAY32F"));
+      image = sophus::IntensityImage<>::fromFormat(
+          size, PixelFormatFromString("GRAY32F"));
       Download(unsafe_ptr, GL_DEPTH_COMPONENT, GL_FLOAT);
       break;
     default:

components/pango_opengl/include/pangolin/gl/gl_type_info.h

@@ -62,11 +62,12 @@ inline farm_ng::Expected<GlFormatInfo> glTypeInfo(
   };
 
   // Make sure we'll be in bounds...
-  const int nbytes = pixel_type.num_bytes_per_pixel_channel;
+  const int nbytes = pixel_type.num_bytes_per_component;
   const bool bfixed = pixel_type.number_type == sophus::NumberType::fixed_point;
 
-  if (between(pixel_type.num_channels, 1, 4) && isOneOf(nbytes, {1, 2, 4})) {
-    const int cidx = pixel_type.num_channels - 1;
+  if (between(int(pixel_type.num_components), 1, 4) &&
+      isOneOf(nbytes, {1, 2, 4})) {
+    const int cidx = pixel_type.num_components - 1;
     const int fidx = (nbytes == 4 && bfixed) ? 2 : nbytes - 1;
     return GlFormatInfo(
         {.gl_sized_format = format_table[fidx][cidx],

components/pango_opengl/include/pangolin/gl/glpixformat.h

@@ -42,7 +42,7 @@ struct GlPixFormat {
 
   GlPixFormat(const sophus::PixelFormat& fmt)
   {
-    switch (fmt.num_channels) {
+    switch (fmt.num_components) {
       case 1:
         glformat = GL_RED;
         break;
@@ -63,7 +63,7 @@ struct GlPixFormat {
 
     const bool is_integral = fmt.number_type == sophus::NumberType::fixed_point;
 
-    switch (fmt.num_bytes_per_pixel_channel) {
+    switch (fmt.num_bytes_per_component) {
       case 1:
         gltype = GL_UNSIGNED_BYTE;
         break;

components/pango_opengl/src/gl_device_buffer.cpp

@@ -190,7 +190,7 @@ struct DeviceGlBuffer : public DeviceBuffer {
 
   size_t elementSizeBytes() const
   {
-    return data_type_ ? data_type_->bytesPerPixel() : 0;
+    return data_type_ ? data_type_->numBytesPerPixel() : 0;
   }
 
   GLenum buffer_type_ = 0;

components/pango_opengl/src/gl_device_texture.cpp

@@ -126,9 +126,9 @@ struct DeviceGlTexture : public DeviceTexture {
     }
 
     // Upload data
-    const size_t stride = u.image.pitchBytes() / data_type.bytesPerPixel();
+    const size_t stride = u.image.pitchBytes() / data_type.numBytesPerPixel();
     PANGO_CHECK(
-        stride * data_type.bytesPerPixel() == u.image.pitchBytes(),
+        stride * data_type.numBytesPerPixel() == u.image.pitchBytes(),
         "Image pitch is not a multiple of the pixel size (which OpenGL "
         "requires).");
     PANGO_GL(glPixelStorei(GL_UNPACK_ROW_LENGTH, stride));

components/pango_opengl/src/gl_vao.cpp

@@ -85,11 +85,11 @@ void GlVertexArrayObject::addVertexAttrib(
 
   if (isGlIntegralDatatype(gl_fmt.gl_type)) {
     PANGO_GL(glVertexAttribIPointer(
-        attrib_location, data_type.num_channels, gl_fmt.gl_type, stride_bytes,
+        attrib_location, data_type.num_components, gl_fmt.gl_type, stride_bytes,
         (void*)offset_bytes));
   } else {
     PANGO_GL(glVertexAttribPointer(
-        attrib_location, data_type.num_channels, gl_fmt.gl_type, normalized,
+        attrib_location, data_type.num_components, gl_fmt.gl_type, normalized,
         stride_bytes, (void*)offset_bytes));
   }
   PANGO_GL(glEnableVertexAttribArray(attrib_location));

components/pango_render/include/pangolin/render/device_buffer.h

@@ -34,7 +34,7 @@ struct DeviceBuffer {
   virtual void reserve(size_t) const = 0;
 
   // size of allocated buffer in bytes. Will be at least `capacity() *
-  // dataType().bytesPerPixel()`.
+  // dataType().numBytesPerPixel()`.
   virtual size_t sizeBytes() const = 0;
 
   // Queue upload of data into position `dest_element` of device buffer. The

components/pango_render/include/pangolin/render/shared_data_package.h

@@ -41,8 +41,8 @@ struct SharedDataPackage {
     using C = Eigen::Matrix<float, kRows, kCols>;
     data_type = {
         .number_type = sophus::NumberType::floating_point,
-        .num_channels = int(matrix.rows()),
-        .num_bytes_per_pixel_channel = sizeof(float),
+        .num_components = uint8_t(matrix.rows()),
+        .num_bytes_per_component = sizeof(float),
     };
     num_elements = matrix.cols();
     data = makeTypeErasedSharedPtr(std::forward<C>(matrix));

components/pango_video/include/pangolin/video/stream_info.h

@@ -35,7 +35,7 @@ namespace pangolin
 class PANGOLIN_EXPORT StreamInfo
 {
   public:
-  inline StreamInfo() : layout_(0, 0, 0), offset_bytes_(0) {}
+  inline StreamInfo() : layout_(), offset_bytes_(0) {}
 
   inline StreamInfo(
       sophus::PixelFormat fmt, const sophus::ImageLayout shape,
@@ -52,7 +52,7 @@ class PANGOLIN_EXPORT StreamInfo
 
   inline size_t rowBytes() const
   {
-    return format().bytesPerPixel() * layout().width();
+    return format().numBytesPerPixel() * layout().width();
   }
 
   //! Return Image wrapper around raw base pointer
@@ -69,11 +69,12 @@ class PANGOLIN_EXPORT StreamInfo
   inline sophus::IntensityImage<> copyToDynImage(const uint8_t* base_ptr) const
   {
     PANGO_DEBUG("Unneeded image copy happening...");
-    sophus::IntensityImage<> runtime(layout_, fmt_);
+    sophus::IntensityImage<> runtime =
+        sophus::IntensityImage<>::fromFormat(layout_, fmt_);
     sophus::details::pitchedCopy(
         const_cast<uint8_t*>(runtime.rawPtr()), runtime.layout().pitchBytes(),
         base_ptr, layout_.pitchBytes(), layout_.imageSize(),
-        fmt_.bytesPerPixel());
+        fmt_.numBytesPerPixel());
     return runtime;
   }