open3d.t.geometry.RGBDImage#

class open3d.t.geometry.RGBDImage#

RGBDImage is a pair of color and depth images. For most processing, the image pair should be aligned (same viewpoint and resolution).

__init__(*args, **kwargs)#

Overloaded function.

  1. __init__(self)

    Construct an empty RGBDImage.

  2. __init__(self, color, depth, aligned=True)

    Parameterized constructor

Parameters:
are_aligned(self: open3d.cpu.pybind.t.geometry.RGBDImage) bool#

Are the depth and color images aligned (same viewpoint and resolution)?

clear(self)#

Clear stored data.

Returns:

open3d.t.geometry.RGBDImage

clone(self: open3d.cpu.pybind.t.geometry.RGBDImage) open3d.cpu.pybind.t.geometry.RGBDImage#

Returns a copy of the RGBDImage on the same device.

cpu(self: open3d.cpu.pybind.t.geometry.RGBDImage) open3d.cpu.pybind.t.geometry.RGBDImage#

Transfer the RGBD image to CPU. If the RGBD image is already on CPU, no copy will be performed.

cuda(self: open3d.cpu.pybind.t.geometry.RGBDImage, device_id: int = 0) open3d.cpu.pybind.t.geometry.RGBDImage#

Transfer the RGBD image to a CUDA device. If the RGBD image is already on the specified CUDA device, no copy will be performed.

get_max_bound(self)#

Compute max 2D coordinates for the data.

Returns:

open3d.core.Tensor

get_min_bound(self)#

Compute min 2D coordinates for the data (always {0, 0}).

Returns:

open3d.core.Tensor

is_empty(self)#

Is any data stored?

Returns:

bool

to(self: open3d.cpu.pybind.t.geometry.RGBDImage, device: open3d.cpu.pybind.core.Device, copy: bool = False) open3d.cpu.pybind.t.geometry.RGBDImage#

Transfer the RGBDImage to a specified device.

to_legacy(self)#

Convert to legacy RGBDImage type.

Returns:

open3d.geometry.RGBDImage

property aligned_#

Are the depth and color images aligned (same viewpoint and resolution)?

property color#

The color image.

property depth#

The depth image.

property device#

Returns the device of the geometry.

property is_cpu#

Returns true if the geometry is on CPU.

property is_cuda#

Returns true if the geometry is on CUDA.