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(value)#

Enum class for Geometry types.

HalfEdgeTriangleMesh = 7#
Image = 8#
LineSet = 4#
PointCloud = 1#
RGBDImage = 9#
TetraMesh = 10#
TriangleMesh = 6#
Unspecified = 0#
VoxelGrid = 2#
__init__(self: open3d.geometry.RGBDImage) None#

Default constructor

clear(self: open3d.geometry.Geometry) open3d.geometry.Geometry#

Clear all elements in the geometry.

Returns:

open3d.geometry.Geometry

static create_from_color_and_depth(color: open3d.geometry.Image, depth: open3d.geometry.Image, depth_scale: SupportsFloat = 1000.0, depth_trunc: SupportsFloat = 3.0, convert_rgb_to_intensity: bool = True) open3d.geometry.RGBDImage#

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

  • depth_trunc (SupportsFloat, 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: open3d.geometry.Image, depth: open3d.geometry.Image, convert_rgb_to_intensity: bool = True) open3d.geometry.RGBDImage#

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: open3d.geometry.Image, depth: open3d.geometry.Image, convert_rgb_to_intensity: bool = True) open3d.geometry.RGBDImage#

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: open3d.geometry.Image, depth: open3d.geometry.Image, convert_rgb_to_intensity: bool = True) open3d.geometry.RGBDImage#

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: open3d.geometry.Image, depth: open3d.geometry.Image, convert_rgb_to_intensity: bool = True) open3d.geometry.RGBDImage#

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: open3d.geometry.Geometry) int#

Returns whether the geometry is 2D or 3D.

Returns:

int

get_geometry_type(self: open3d.geometry.Geometry) open3d.geometry.Geometry.Type#

Returns one of registered geometry types.

Returns:

open3d.geometry.Geometry.Type

get_max_bound(self: open3d.geometry.Geometry2D) Annotated[numpy.typing.NDArray[numpy.float64], '[2, 1]']#

Returns max bounds for geometry coordinates.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[2, 1]”]

get_min_bound(self: open3d.geometry.Geometry2D) Annotated[numpy.typing.NDArray[numpy.float64], '[2, 1]']#

Returns min bounds for geometry coordinates.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[2, 1]”]

is_empty(self: open3d.geometry.Geometry) bool#

Returns True iff the geometry is empty.

Returns:

bool

HalfEdgeTriangleMesh = 7#
Image = 8#
LineSet = 4#
PointCloud = 1#
RGBDImage = 9#
TetraMesh = 10#
TriangleMesh = 6#
Unspecified = 0#
VoxelGrid = 2#
property color#

The color image.

Type:

open3d.geometry.Image

property depth#

The depth image.

Type:

open3d.geometry.Image