open3d.geometry.RGBDImage

class open3d.geometry.RGBDImage

RGBDImage is for a pair of registered color and depth images, viewed from the same view, of the same resolution. If you have other format, convert it first.

class Type

Enum class for Geometry types.

HalfEdgeTriangleMesh = <Type.HalfEdgeTriangleMesh: 7>
Image = <Type.Image: 8>
LineSet = <Type.LineSet: 4>
PointCloud = <Type.PointCloud: 1>
RGBDImage = <Type.RGBDImage: 9>
TetraMesh = <Type.TetraMesh: 10>
TriangleMesh = <Type.TriangleMesh: 6>
Unspecified = <Type.Unspecified: 0>
VoxelGrid = <Type.VoxelGrid: 2>
property value
__init__(self: open3d.cpu.pybind.geometry.RGBDImage) → None

Default constructor

clear(self)

Clear all elements in the geometry.

Returns

open3d.geometry.Geometry

static create_from_color_and_depth(color, depth, depth_scale=1000.0, depth_trunc=3.0, convert_rgb_to_intensity=True)

Function to make RGBDImage from color and depth image

Parameters

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

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

  • depth_scale (float, optional, default=1000.0) – The ratio to scale depth values. The depth values will first be scaled and then truncated.

  • depth_trunc (float, optional, default=3.0) – Depth values larger than depth_trunc gets truncated to 0. The depth values will first be scaled and then truncated.

  • convert_rgb_to_intensity (bool, optional, default=True) – Whether to convert RGB image to intensity image.

Returns

open3d.geometry.RGBDImage

static create_from_nyu_format(color, depth, convert_rgb_to_intensity=True)

Function to make RGBDImage (for NYU format)

Parameters

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

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

  • convert_rgb_to_intensity (bool, optional, default=True) – Whether to convert RGB image to intensity image.

Returns

open3d.geometry.RGBDImage

static create_from_redwood_format(color, depth, convert_rgb_to_intensity=True)

Function to make RGBDImage (for Redwood format)

Parameters

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

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

  • convert_rgb_to_intensity (bool, optional, default=True) – Whether to convert RGB image to intensity image.

Returns

open3d.geometry.RGBDImage

static create_from_sun_format(color, depth, convert_rgb_to_intensity=True)

Function to make RGBDImage (for SUN format)

Parameters

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

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

  • convert_rgb_to_intensity (bool, optional, default=True) – Whether to convert RGB image to intensity image.

Returns

open3d.geometry.RGBDImage

static create_from_tum_format(color, depth, convert_rgb_to_intensity=True)

Function to make RGBDImage (for TUM format)

Parameters

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

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

  • convert_rgb_to_intensity (bool, optional, default=True) – Whether to convert RGB image to intensity image.

Returns

open3d.geometry.RGBDImage

dimension(self)

Returns whether the geometry is 2D or 3D.

Returns

int

get_geometry_type(self)

Returns one of registered geometry types.

Returns

open3d.geometry.Geometry.GeometryType

get_max_bound(self)

Returns max bounds for geometry coordinates.

Returns

numpy.ndarray[numpy.float64[2, 1]]

get_min_bound(self)

Returns min bounds for geometry coordinates.

Returns

numpy.ndarray[numpy.float64[2, 1]]

is_empty(self)

Returns True iff the geometry is empty.

Returns

bool

HalfEdgeTriangleMesh = <Type.HalfEdgeTriangleMesh: 7>
Image = <Type.Image: 8>
LineSet = <Type.LineSet: 4>
PointCloud = <Type.PointCloud: 1>
RGBDImage = <Type.RGBDImage: 9>
TetraMesh = <Type.TetraMesh: 10>
TriangleMesh = <Type.TriangleMesh: 6>
Unspecified = <Type.Unspecified: 0>
VoxelGrid = <Type.VoxelGrid: 2>
property color

The color image.

Type

open3d.geometry.Image

property depth

The depth image.

Type

open3d.geometry.Image