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

#include <RGBDImage.h>

Inheritance diagram for open3d::geometry::RGBDImage:

Public Member Functions
	RGBDImage ()
	Default Comnstructor. More...

	RGBDImage (const Image &color, const Image &depth)
	Parameterized Constructor. More...

	~RGBDImage () override

RGBDImage &	Clear () 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< RGBDImage >	CreateFromColorAndDepth (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< RGBDImage >	CreateFromRedwoodFormat (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< RGBDImage >	CreateFromTUMFormat (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< RGBDImage >	CreateFromSUNFormat (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< RGBDImage >	CreateFromNYUFormat (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	GeometryType { GeometryType::Unspecified = 0, GeometryType::PointCloud = 1, GeometryType::VoxelGrid = 2, GeometryType::Octree = 3, GeometryType::LineSet = 4, GeometryType::MeshBase = 5, GeometryType::TriangleMesh = 6, GeometryType::HalfEdgeTriangleMesh = 7, GeometryType::Image = 8, GeometryType::RGBDImage = 9, GeometryType::TetraMesh = 10, GeometryType::OrientedBoundingBox = 11, GeometryType::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

color	The color image.
depth	The 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

color	The color image.
depth	The depth image.
depth_scale	The ratio to scale depth values. The depth values will first be scaled and then truncated.
depth_trunc	Depth 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

color	The color image.
depth	The depth image.
convert_rgb_to_intensity	Whether 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

color	The color image.
depth	The depth image.
convert_rgb_to_intensity	Whether 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

color	The color image.
depth	The depth image.
convert_rgb_to_intensity	Whether 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

color	The color image.
depth	The depth image.
convert_rgb_to_intensity	Whether 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:

/home/yixing/repo/Open3D/src/Open3D/Geometry/RGBDImage.h
/home/yixing/repo/Open3D/src/Open3D/Geometry/RGBDImage.cpp
/home/yixing/repo/Open3D/src/Open3D/Geometry/RGBDImageFactory.cpp

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RGBDImage() [1/2]

◆ RGBDImage() [2/2]

◆ ~RGBDImage()

Member Function Documentation

◆ Clear()

◆ CreateFromColorAndDepth()

◆ CreateFromNYUFormat()

◆ CreateFromRedwoodFormat()

◆ CreateFromSUNFormat()

◆ CreateFromTUMFormat()

◆ CreatePyramid()

◆ FilterPyramid()

◆ GetMaxBound()

◆ GetMinBound()

◆ IsEmpty()

Field Documentation

◆ color_

◆ depth_