Open3D (C++ API)
0.12.0
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RGBDImage is for a pair of registered color and depth images,. More...
#include <RGBDImage.h>
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... | |
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.
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inline |
Default Comnstructor.
Parameterized Constructor.
color | The color image. |
depth | The depth image. |
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inlineoverride |
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overridevirtual |
Clear all elements in the geometry.
Implements open3d::geometry::Geometry2D.
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static |
Factory function to create an RGBD Image from color and depth Images.
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. |
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static |
Factory function to create an RGBD Image from NYU dataset.
Reference: http://cs.nyu.edu/~silberman/datasets/nyu_depth_v2.html.
color | The color image. |
depth | The depth image. |
convert_rgb_to_intensity | Whether to convert RGB image to intensity image. |
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static |
Factory function to create an RGBD Image from Redwood dataset.
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
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static |
Factory function to create an RGBD Image from SUN3D dataset.
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
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static |
Factory function to create an RGBD Image from TUM dataset.
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
RGBDImagePyramid open3d::geometry::RGBDImage::CreatePyramid | ( | size_t | num_of_levels, |
bool | with_gaussian_filter_for_color = true , |
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bool | with_gaussian_filter_for_depth = false |
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) | const |
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static |
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overridevirtual |
Returns max bounds for geometry coordinates.
Implements open3d::geometry::Geometry2D.
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overridevirtual |
Returns min bounds for geometry coordinates.
Implements open3d::geometry::Geometry2D.
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overridevirtual |
Returns true
iff the geometry is empty.
Implements open3d::geometry::Geometry2D.
Image open3d::geometry::RGBDImage::color_ |
The color image.
Image open3d::geometry::RGBDImage::depth_ |
The depth image.