RGBDImage.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "open3d/geometry/Geometry2D.h"
#include "open3d/geometry/Image.h"
 
namespace open3d {
namespace geometry {
 
class RGBDImage;
 
typedef std::vector<std::shared_ptr<RGBDImage>> RGBDImagePyramid;
 
class RGBDImage : public Geometry2D {
public:
    RGBDImage() : Geometry2D(Geometry::GeometryType::RGBDImage) {}
    RGBDImage(const Image &color, const Image &depth)
        : Geometry2D(Geometry::GeometryType::RGBDImage),
          color_(color),
          depth_(depth) {}
 
    ~RGBDImage() override {
        color_.Clear();
        depth_.Clear();
    };
 
    RGBDImage &Clear() override;
    bool IsEmpty() const override;
    Eigen::Vector2d GetMinBound() const override;
    Eigen::Vector2d GetMaxBound() const override;
 
    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);
 
    static std::shared_ptr<RGBDImage> CreateFromRedwoodFormat(
            const Image &color,
            const Image &depth,
            bool convert_rgb_to_intensity = true);
 
    static std::shared_ptr<RGBDImage> CreateFromTUMFormat(
            const Image &color,
            const Image &depth,
            bool convert_rgb_to_intensity = true);
 
    static std::shared_ptr<RGBDImage> CreateFromSUNFormat(
            const Image &color,
            const Image &depth,
            bool convert_rgb_to_intensity = true);
 
    static std::shared_ptr<RGBDImage> CreateFromNYUFormat(
            const Image &color,
            const Image &depth,
            bool convert_rgb_to_intensity = true);
 
    static RGBDImagePyramid FilterPyramid(
            const RGBDImagePyramid &rgbd_image_pyramid, Image::FilterType type);
 
    RGBDImagePyramid CreatePyramid(
            size_t num_of_levels,
            bool with_gaussian_filter_for_color = true,
            bool with_gaussian_filter_for_depth = false) const;
 
public:
    Image color_;
    Image depth_;
};
 
}  // namespace geometry
}  // namespace open3d