Open3D (C++ API)  0.17.0
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
 
GeometryClear () override=0
 Clear all elements in the geometry. More...
 
bool IsEmpty () const override=0
 Returns true iff the geometry is empty. More...
 
virtual Eigen::Vector2d GetMinBound () const =0
 Returns min bounds for geometry coordinates. More...
 
virtual Eigen::Vector2d GetMaxBound () const =0
 Returns max bounds for geometry coordinates. More...
 
- Public Member Functions inherited from open3d::geometry::Geometry
virtual ~Geometry ()
 
virtual GeometryClear ()=0
 Clear all elements in the geometry. More...
 
virtual bool IsEmpty () const =0
 Returns true iff the geometry is empty. More...
 
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: