open3d.t.geometry.RGBDImage

class open3d.t.geometry.RGBDImage

RGBDImage is a pair of color and depth images. For most processing, the image pair should be aligned (same viewpoint and resolution).

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self)

   Construct an empty RGBDImage.

2. __init__(self, color, depth, aligned=True)

   Parameterized constructor

Parameters:

• color (open3d.t.geometry.Image) – The color image.

• depth (open3d.t.geometry.Image) – The depth image.

• aligned (bool, optional, default=True) – Are the two images aligned (same viewpoint and resolution)?

are_aligned(self: open3d.cpu.pybind.t.geometry.RGBDImage) → bool

Are the depth and color images aligned (same viewpoint and resolution)?

clear(self)

Clear stored data.

Returns:

open3d.t.geometry.RGBDImage

clone(self: open3d.cpu.pybind.t.geometry.RGBDImage) → open3d.cpu.pybind.t.geometry.RGBDImage

Returns a copy of the RGBDImage on the same device.

cpu(self: open3d.cpu.pybind.t.geometry.RGBDImage) → open3d.cpu.pybind.t.geometry.RGBDImage

Transfer the RGBD image to CPU. If the RGBD image is already on CPU, no copy will be performed.

cuda(self: open3d.cpu.pybind.t.geometry.RGBDImage, device_id: int = 0) → open3d.cpu.pybind.t.geometry.RGBDImage

Transfer the RGBD image to a CUDA device. If the RGBD image is already on the specified CUDA device, no copy will be performed.

get_max_bound(self)

Compute max 2D coordinates for the data.

Returns:

open3d.core.Tensor

get_min_bound(self)

Compute min 2D coordinates for the data (always {0, 0}).

Returns:

open3d.core.Tensor

is_empty(self)

Is any data stored?

Returns:

bool

to(self: open3d.cpu.pybind.t.geometry.RGBDImage, device: open3d.cpu.pybind.core.Device, copy: bool = False) → open3d.cpu.pybind.t.geometry.RGBDImage

Transfer the RGBDImage to a specified device.

to_legacy(self)

Convert to legacy RGBDImage type.

Returns:

open3d.geometry.RGBDImage

property aligned_

Are the depth and color images aligned (same viewpoint and resolution)?

property color

The color image.

property depth

The depth image.

property device

Returns the device of the geometry.

property is_cpu

Returns true if the geometry is on CPU.

property is_cuda

Returns true if the geometry is on CUDA.