Open3D (C++ API)  0.18.0+5c982c7
Public Member Functions | Static Public Member Functions | Data Fields
open3d::geometry::RGBDImage Class Reference

RGBDImage is for a pair of registered color and depth images,. More...

#include <RGBDImage.h>

Inheritance diagram for open3d::geometry::RGBDImage:
open3d::geometry::Geometry2D open3d::geometry::Geometry

Public Member Functions

 RGBDImage ()
 Default Comnstructor. More...
 
 RGBDImage (const Image &color, const Image &depth)
 Parameterized Constructor. More...
 
 ~RGBDImage () override
 
RGBDImageClear () override
 Clear all elements in the geometry. More...
 
bool IsEmpty () const override
 Returns true iff the geometry is empty. More...
 
Eigen::Vector2d GetMinBound () const override
 Returns min bounds for geometry coordinates. More...
 
Eigen::Vector2d GetMaxBound () const override
 Returns max bounds for geometry coordinates. More...
 
RGBDImagePyramid CreatePyramid (size_t num_of_levels, bool with_gaussian_filter_for_color=true, bool with_gaussian_filter_for_depth=false) const
 
- Public Member Functions inherited from open3d::geometry::Geometry2D
 ~Geometry2D () override
 
- Public Member Functions inherited from open3d::geometry::Geometry
virtual ~Geometry ()
 
GeometryType GetGeometryType () const
 Returns one of registered geometry types. More...
 
int Dimension () const
 Returns whether the geometry is 2D or 3D. More...
 
std::string GetName () const
 
void SetName (const std::string &name)
 

Static Public Member Functions

static std::shared_ptr< RGBDImageCreateFromColorAndDepth (const Image &color, const Image &depth, double depth_scale=1000.0, double depth_trunc=3.0, bool convert_rgb_to_intensity=true)
 Factory function to create an RGBD Image from color and depth Images. More...
 
static std::shared_ptr< RGBDImageCreateFromRedwoodFormat (const Image &color, const Image &depth, bool convert_rgb_to_intensity=true)
 Factory function to create an RGBD Image from Redwood dataset. More...
 
static std::shared_ptr< RGBDImageCreateFromTUMFormat (const Image &color, const Image &depth, bool convert_rgb_to_intensity=true)
 Factory function to create an RGBD Image from TUM dataset. More...
 
static std::shared_ptr< RGBDImageCreateFromSUNFormat (const Image &color, const Image &depth, bool convert_rgb_to_intensity=true)
 Factory function to create an RGBD Image from SUN3D dataset. More...
 
static std::shared_ptr< RGBDImageCreateFromNYUFormat (const Image &color, const Image &depth, bool convert_rgb_to_intensity=true)
 Factory function to create an RGBD Image from NYU dataset. More...
 
static RGBDImagePyramid FilterPyramid (const RGBDImagePyramid &rgbd_image_pyramid, Image::FilterType type)
 

Data Fields

Image color_
 The color image. More...
 
Image depth_
 The depth image. More...
 

Additional Inherited Members

- Public Types inherited from open3d::geometry::Geometry
enum class  GeometryType {
  Unspecified = 0 , PointCloud = 1 , VoxelGrid = 2 , Octree = 3 ,
  LineSet = 4 , MeshBase = 5 , TriangleMesh = 6 , HalfEdgeTriangleMesh = 7 ,
  Image = 8 , RGBDImage = 9 , TetraMesh = 10 , OrientedBoundingBox = 11 ,
  AxisAlignedBoundingBox = 12
}
 Specifies possible geometry types. More...
 
- Protected Member Functions inherited from open3d::geometry::Geometry2D
 Geometry2D (GeometryType type)
 Parameterized Constructor. More...
 
- Protected Member Functions inherited from open3d::geometry::Geometry
 Geometry (GeometryType type, int dimension)
 Parameterized Constructor. More...
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ RGBDImage() [1/2]

open3d::geometry::RGBDImage::RGBDImage ( )
inline

Default Comnstructor.

◆ RGBDImage() [2/2]

open3d::geometry::RGBDImage::RGBDImage ( const Image color,
const Image depth 
)
inline

Parameterized Constructor.

Parameters
colorThe color image.
depthThe depth image.

◆ ~RGBDImage()

open3d::geometry::RGBDImage::~RGBDImage ( )
inlineoverride

Member Function Documentation

◆ Clear()

RGBDImage & open3d::geometry::RGBDImage::Clear ( )
overridevirtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry2D.

◆ CreateFromColorAndDepth()

std::shared_ptr< RGBDImage > open3d::geometry::RGBDImage::CreateFromColorAndDepth ( const Image color,
const Image depth,
double  depth_scale = 1000.0,
double  depth_trunc = 3.0,
bool  convert_rgb_to_intensity = true 
)
static

Factory function to create an RGBD Image from color and depth Images.

Parameters
colorThe color image.
depthThe depth image.
depth_scaleThe ratio to scale depth values. The depth values will first be scaled and then truncated.
depth_truncDepth values larger than depth_trunc gets truncated to 0. The depth values will first be scaled and then truncated.
convert_rgb_to_intensity- Whether to convert RGB image to intensity image.

◆ CreateFromNYUFormat()

std::shared_ptr< RGBDImage > open3d::geometry::RGBDImage::CreateFromNYUFormat ( const Image color,
const Image depth,
bool  convert_rgb_to_intensity = true 
)
static

Factory function to create an RGBD Image from NYU dataset.

Reference: http://cs.nyu.edu/~silberman/datasets/nyu_depth_v2.html.

Parameters
colorThe color image.
depthThe depth image.
convert_rgb_to_intensityWhether to convert RGB image to intensity image.

◆ CreateFromRedwoodFormat()

std::shared_ptr< RGBDImage > open3d::geometry::RGBDImage::CreateFromRedwoodFormat ( const Image color,
const Image depth,
bool  convert_rgb_to_intensity = true 
)
static

Factory function to create an RGBD Image from Redwood dataset.

Parameters
colorThe color image.
depthThe depth image.
convert_rgb_to_intensityWhether to convert RGB image to intensity image.

Reference: http://redwood-data.org/indoor/ File format: http://redwood-data.org/indoor/dataset.html

◆ CreateFromSUNFormat()

std::shared_ptr< RGBDImage > open3d::geometry::RGBDImage::CreateFromSUNFormat ( const Image color,
const Image depth,
bool  convert_rgb_to_intensity = true 
)
static

Factory function to create an RGBD Image from SUN3D dataset.

Parameters
colorThe color image.
depthThe depth image.
convert_rgb_to_intensityWhether to convert RGB image to intensity image.

Reference: http://sun3d.cs.princeton.edu/ File format: https://github.com/PrincetonVision/SUN3DCppReader

◆ CreateFromTUMFormat()

std::shared_ptr< RGBDImage > open3d::geometry::RGBDImage::CreateFromTUMFormat ( const Image color,
const Image depth,
bool  convert_rgb_to_intensity = true 
)
static

Factory function to create an RGBD Image from TUM dataset.

Parameters
colorThe color image.
depthThe depth image.
convert_rgb_to_intensityWhether to convert RGB image to intensity image.

Reference: http://vision.in.tum.de/data/datasets/rgbd-dataset File format: http://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats

◆ CreatePyramid()

RGBDImagePyramid open3d::geometry::RGBDImage::CreatePyramid ( size_t  num_of_levels,
bool  with_gaussian_filter_for_color = true,
bool  with_gaussian_filter_for_depth = false 
) const

◆ FilterPyramid()

RGBDImagePyramid open3d::geometry::RGBDImage::FilterPyramid ( const RGBDImagePyramid rgbd_image_pyramid,
Image::FilterType  type 
)
static

◆ GetMaxBound()

Eigen::Vector2d open3d::geometry::RGBDImage::GetMaxBound ( ) const
overridevirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry2D.

◆ GetMinBound()

Eigen::Vector2d open3d::geometry::RGBDImage::GetMinBound ( ) const
overridevirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry2D.

◆ IsEmpty()

bool open3d::geometry::RGBDImage::IsEmpty ( ) const
overridevirtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry2D.

Field Documentation

◆ color_

Image open3d::geometry::RGBDImage::color_

The color image.

◆ depth_

Image open3d::geometry::RGBDImage::depth_

The depth image.


The documentation for this class was generated from the following files: