RGBDImage.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 "open3d/geometry/RGBDImage.h"
#include "open3d/t/geometry/Image.h"

namespace open3d {
namespace t {
namespace geometry {

class RGBDImage : public Geometry {
public:
    RGBDImage() : Geometry(Geometry::GeometryType::RGBDImage, 2) {}
    RGBDImage(const Image &color, const Image &depth, bool aligned = true)
        : Geometry(Geometry::GeometryType::RGBDImage, 2),
          color_(color),
          depth_(depth),
          aligned_(aligned) {
        if (color.GetRows() != depth.GetRows() ||
            color.GetCols() != depth.GetCols()) {
            aligned_ = false;
            utility::LogWarning(
                    "Aligned image pair must have the same resolution.");
        }
    }

    ~RGBDImage() override{};

    RGBDImage &Clear() override;

    bool IsEmpty() const override;

    bool AreAligned() const { return aligned_; }

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

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

    open3d::geometry::RGBDImage ToLegacyRGBDImage() const {
        return open3d::geometry::RGBDImage(color_.ToLegacyImage(),
                                           depth_.ToLegacyImage());
    }

    std::string ToString() const;

public:
    Image color_;
    Image depth_;
    bool aligned_ = true;
};

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