Open3D (C++ API)  0.17.0
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RGBDImage.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
12
13namespace open3d {
14namespace t {
15namespace geometry {
16
21class RGBDImage : public Geometry {
22public:
25
32 RGBDImage(const Image &color, const Image &depth, bool aligned = true)
35 depth_(depth),
36 aligned_(aligned) {
37 if (color.GetRows() != depth.GetRows() ||
38 color.GetCols() != depth.GetCols()) {
39 aligned_ = false;
40 utility::LogWarning(
41 "Aligned image pair must have the same resolution.");
42 }
43 }
44
45 core::Device GetDevice() const override {
46 core::Device color_device = color_.GetDevice();
47 core::Device depth_device = depth_.GetDevice();
48 if (color_device != depth_device) {
49 utility::LogError(
50 "Color {} and depth {} are not on the same device.",
51 color_device.ToString(), depth_device.ToString());
52 }
53 return color_device;
54 }
55
56 ~RGBDImage() override{};
57
59 RGBDImage &Clear() override;
60
62 bool IsEmpty() const override;
63
65 bool AreAligned() const { return aligned_; }
66
71
74 return core::Tensor(
75 std::vector<int64_t>{color_.GetCols() + depth_.GetCols(),
76 color_.GetRows()},
77 {2}, core::Int64);
78 }
79
85 RGBDImage To(const core::Device &device, bool copy = false) const {
86 return RGBDImage(color_.To(device, copy), depth_.To(device, copy),
87 aligned_);
88 }
89
91 RGBDImage Clone() const { return To(color_.GetDevice(), /*copy=*/true); }
92
98
100 std::string ToString() const;
101
102public:
108 bool aligned_ = true;
109};
110
111} // namespace geometry
112} // namespace t
113} // namespace open3d
math::float4 color
Definition LineSetBuffers.cpp:45
bool copy
Definition VtkUtils.cpp:73
Definition Device.h:18
std::string ToString() const
Returns string representation of device, e.g. "CPU:0", "CUDA:0".
Definition Device.cpp:88
Definition Tensor.h:32
static Tensor Zeros(const SizeVector &shape, Dtype dtype, const Device &device=Device("CPU:0"))
Create a tensor fill with zeros.
Definition Tensor.cpp:373
RGBDImage is for a pair of registered color and depth images,.
Definition RGBDImage.h:27
The base geometry class.
Definition Geometry.h:21
GeometryType
Specifies possible geometry types.
Definition Geometry.h:26
The Image class stores image with customizable rows, cols, channels, dtype and device.
Definition Image.h:29
core::Device GetDevice() const override
Get device of the image.
Definition Image.h:96
int64_t GetRows() const
Get the number of rows of the image.
Definition Image.h:84
int64_t GetCols() const
Get the number of columns of the image.
Definition Image.h:87
open3d::geometry::Image ToLegacy() const
Convert to legacy Image type.
Definition Image.cpp:527
Image To(const core::Device &device, bool copy=false) const
Transfer the image to a specified device.
Definition Image.h:132
RGBDImage A pair of color and depth images.
Definition RGBDImage.h:21
Image color_
The color image.
Definition RGBDImage.h:104
std::string ToString() const
Text description.
Definition RGBDImage.cpp:22
Image depth_
The depth image.
Definition RGBDImage.h:106
RGBDImage()
Default Comnstructor.
Definition RGBDImage.h:24
RGBDImage Clone() const
Returns copy of the RGBD image on the same device.
Definition RGBDImage.h:91
core::Tensor GetMaxBound() const
Compute max 2D coordinates for the data.
Definition RGBDImage.h:73
RGBDImage & Clear() override
Clear stored data.
Definition RGBDImage.cpp:14
~RGBDImage() override
Definition RGBDImage.h:56
bool AreAligned() const
Are the depth and color images aligned (same viewpoint and resolution)?
Definition RGBDImage.h:65
open3d::geometry::RGBDImage ToLegacy() const
Convert to the legacy RGBDImage format.
Definition RGBDImage.h:94
RGBDImage(const Image &color, const Image &depth, bool aligned=true)
Parameterized Constructor.
Definition RGBDImage.h:32
RGBDImage To(const core::Device &device, bool copy=false) const
Definition RGBDImage.h:85
bool aligned_
Are the depth and color images aligned (same viewpoint and resolution)?
Definition RGBDImage.h:108
core::Tensor GetMinBound() const
Compute min 2D coordinates for the data (always {0,0}).
Definition RGBDImage.h:68
bool IsEmpty() const override
Is any data stored?
Definition RGBDImage.cpp:20
core::Device GetDevice() const override
Returns the device of the geometry.
Definition RGBDImage.h:45
const Dtype Int64
Definition Dtype.cpp:47
Definition PinholeCameraIntrinsic.cpp:16