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.
- property depth
The depth image.