RGBDImage.h

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// The MIT License (MIT)
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// Copyright (c) 2018 www.open3d.org
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#pragma once

#include <Open3D/Geometry/Geometry2D.h>
#include <Open3D/Geometry/Image.h>

namespace open3d {
namespace geometry {

class RGBDImage {
public:
    RGBDImage(){};
    RGBDImage(const Image &color, const Image &depth)
        : color_(color), depth_(depth){};
    ~RGBDImage() {
        color_.Clear();
        depth_.Clear();
    };

public:
    Image color_;
    Image depth_;
};

std::shared_ptr<RGBDImage> CreateRGBDImageFromColorAndDepth(
        const Image &color,
        const Image &depth,
        double depth_scale = 1000.0,
        double depth_trunc = 3.0,
        bool convert_rgb_to_intensity = true);

std::shared_ptr<RGBDImage> CreateRGBDImageFromRedwoodFormat(
        const Image &color,
        const Image &depth,
        bool convert_rgb_to_intensity = true);

std::shared_ptr<RGBDImage> CreateRGBDImageFromTUMFormat(
        const Image &color,
        const Image &depth,
        bool convert_rgb_to_intensity = true);

std::shared_ptr<RGBDImage> CreateRGBDImageFromSUNFormat(
        const Image &color,
        const Image &depth,
        bool convert_rgb_to_intensity = true);

std::shared_ptr<RGBDImage> CreateRGBDImageFromNYUFormat(
        const Image &color,
        const Image &depth,
        bool convert_rgb_to_intensity = true);

typedef std::vector<std::shared_ptr<RGBDImage>> RGBDImagePyramid;

RGBDImagePyramid FilterRGBDImagePyramid(
        const RGBDImagePyramid &rgbd_image_pyramid, Image::FilterType type);

RGBDImagePyramid CreateRGBDImagePyramid(
        const RGBDImage &rgbd_image,
        size_t num_of_levels,
        bool with_gaussian_filter_for_color = true,
        bool with_gaussian_filter_for_depth = false);

}  // namespace geometry
}  // namespace open3d