open3d.geometry.RGBDImage#

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.

class Type#

Enum class for Geometry types.

HalfEdgeTriangleMesh = <Type.HalfEdgeTriangleMesh: 7>#
Image = <Type.Image: 8>#
LineSet = <Type.LineSet: 4>#
PointCloud = <Type.PointCloud: 1>#
RGBDImage = <Type.RGBDImage: 9>#
TetraMesh = <Type.TetraMesh: 10>#
TriangleMesh = <Type.TriangleMesh: 6>#
Unspecified = <Type.Unspecified: 0>#
VoxelGrid = <Type.VoxelGrid: 2>#
property value#
__init__(self: open3d.cpu.pybind.geometry.RGBDImage) → None#

Default constructor

clear(self)#

Clear all elements in the geometry.

Returns:

open3d.geometry.Geometry

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

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

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

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

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

dimension(self)#

Returns whether the geometry is 2D or 3D.

Returns:

int

get_geometry_type(self)#

Returns one of registered geometry types.

Returns:

open3d.geometry.Geometry.GeometryType

get_max_bound(self)#

Returns max bounds for geometry coordinates.

Returns:

numpy.ndarray[numpy.float64[2, 1]]

get_min_bound(self)#

Returns min bounds for geometry coordinates.

Returns:

numpy.ndarray[numpy.float64[2, 1]]

is_empty(self)#

Returns True iff the geometry is empty.

Returns:

bool

HalfEdgeTriangleMesh = <Type.HalfEdgeTriangleMesh: 7>#
Image = <Type.Image: 8>#
LineSet = <Type.LineSet: 4>#
PointCloud = <Type.PointCloud: 1>#
RGBDImage = <Type.RGBDImage: 9>#
TetraMesh = <Type.TetraMesh: 10>#
TriangleMesh = <Type.TriangleMesh: 6>#
Unspecified = <Type.Unspecified: 0>#
VoxelGrid = <Type.VoxelGrid: 2>#
property color#

The color image.

Type:

open3d.geometry.Image

property depth#

The depth image.

Type:

open3d.geometry.Image