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:
- property depth#
The depth image.
- Type: