open3d.geometry.RGBDImage¶
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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.
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class
Type
¶ Enum class for Geometry types.
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HalfEdgeTriangleMesh
= Type.HalfEdgeTriangleMesh¶
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Image
= Type.Image¶
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LineSet
= Type.LineSet¶
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PointCloud
= Type.PointCloud¶
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RGBDImage
= Type.RGBDImage¶
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TetraMesh
= Type.TetraMesh¶
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TriangleMesh
= Type.TriangleMesh¶
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Unspecified
= Type.Unspecified¶
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VoxelGrid
= Type.VoxelGrid¶
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__init__
(self: open3d.geometry.RGBDImage) → None¶ Default constructor
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clear
(self)¶ Clear all elements in the geometry.
- Returns
open3d.geometry.Geometry
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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
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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
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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
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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
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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
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dimension
(self)¶ Returns whether the geometry is 2D or 3D.
- Returns
int
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get_geometry_type
(self)¶ Returns one of registered geometry types.
- Returns
open3d.geometry.Geometry.GeometryType
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get_max_bound
(self)¶ Returns max bounds for geometry coordinates.
- Returns
numpy.ndarray[float64[2, 1]]
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get_min_bound
(self)¶ Returns min bounds for geometry coordinates.
- Returns
numpy.ndarray[float64[2, 1]]
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is_empty
(self)¶ Returns
True
iff the geometry is empty.- Returns
bool
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HalfEdgeTriangleMesh
= Type.HalfEdgeTriangleMesh¶
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Image
= Type.Image¶
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LineSet
= Type.LineSet¶
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PointCloud
= Type.PointCloud¶
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RGBDImage
= Type.RGBDImage¶
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TetraMesh
= Type.TetraMesh¶
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TriangleMesh
= Type.TriangleMesh¶
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Unspecified
= Type.Unspecified¶
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VoxelGrid
= Type.VoxelGrid¶
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property
color
¶ The color image.
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property
depth
¶ The depth image.
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class