RGBDImage A pair of color and depth images. More...

#include <RGBDImage.h>

Inheritance diagram for cloudViewer::t::geometry::RGBDImage:

Collaboration diagram for cloudViewer::t::geometry::RGBDImage:

[legend]

Public Member Functions
	RGBDImage ()
	Default Comnstructor. More...

	RGBDImage (const Image &color, const Image &depth, bool aligned=true)
	Parameterized Constructor. More...

core::Device	GetDevice () const override
	Returns the device of the geometry. More...

	~RGBDImage () override

RGBDImage &	Clear () override
	Clear stored data. More...

bool	IsEmpty () const override
	Is any data stored? More...

bool	AreAligned () const
	Are the depth and color images aligned (same viewpoint and resolution)? More...

core::Tensor	GetMinBound () const
	Compute min 2D coordinates for the data (always {0,0}). More...

core::Tensor	GetMaxBound () const
	Compute max 2D coordinates for the data. More...

RGBDImage	To (const core::Device &device, bool copy=false) const

RGBDImage	Clone () const
	Returns copy of the RGBD image on the same device. More...

cloudViewer::geometry::RGBDImage	ToLegacy () const
	Convert to the legacy RGBDImage format. More...

std::string	ToString () const
	Text description. More...

Public Member Functions inherited from cloudViewer::t::geometry::Geometry
virtual	~Geometry ()

GeometryType	GetGeometryType () const
	Returns one of registered geometry types. More...

int	Dimension () const
	Returns whether the geometry is 2D or 3D. More...

std::string	GetName () const

void	SetName (const std::string &name)

Public Member Functions inherited from cloudViewer::core::IsDevice
	IsDevice ()=default

virtual	~IsDevice ()=default

bool	IsCPU () const

bool	IsCUDA () const

bool	IsSYCL () const

Public Attributes
Image	color_
	The color image. More...

Image	depth_
	The depth image. More...

bool	aligned_ = true
	Are the depth and color images aligned (same viewpoint and resolution)? More...

Additional Inherited Members
Public Types inherited from cloudViewer::t::geometry::Geometry
enum class	GeometryType { Unspecified = 0 , PointCloud = 1 , VoxelGrid = 2 , Octree = 3 , LineSet = 4 , MeshBase = 5 , TriangleMesh = 6 , HalfEdgeTriangleMesh = 7 , Image = 8 , RGBDImage = 9 , TetraMesh = 10 , OrientedBoundingBox = 11 , AxisAlignedBoundingBox = 12 }
	Specifies possible geometry types. More...

Protected Member Functions inherited from cloudViewer::t::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

RGBDImage A pair of color and depth images.

For most processing, the image pair should be aligned (same viewpoint and resolution).

Definition at line 21 of file RGBDImage.h.

Constructor & Destructor Documentation

◆ RGBDImage() [1/2]

cloudViewer::t::geometry::RGBDImage::RGBDImage ( )

inline

Default Comnstructor.

Definition at line 24 of file RGBDImage.h.

Referenced by To().

◆ RGBDImage() [2/2]

cloudViewer::t::geometry::RGBDImage::RGBDImage	(	const Image &	color,
		const Image &	depth,
		bool	aligned = `true`
	)

inline

Parameterized Constructor.

Parameters

color	The color image.
depth	The depth image.
aligned	Are the two images aligned (same viewpoint and resolution)?

Definition at line 32 of file RGBDImage.h.

References aligned_, color, cloudViewer::t::geometry::Image::GetCols(), cloudViewer::t::geometry::Image::GetRows(), and LogWarning.

◆ ~RGBDImage()

cloudViewer::t::geometry::RGBDImage::~RGBDImage ( )

inlineoverride

Definition at line 56 of file RGBDImage.h.

Member Function Documentation

◆ AreAligned()

bool cloudViewer::t::geometry::RGBDImage::AreAligned ( ) const

inline

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

Definition at line 65 of file RGBDImage.h.

References aligned_.

Referenced by cloudViewer::t::geometry::pybind_image(), and ToString().

◆ Clear()

RGBDImage & cloudViewer::t::geometry::RGBDImage::Clear ( )

overridevirtual

Clear stored data.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 14 of file RGBDImage.cpp.

References cloudViewer::t::geometry::Image::Clear(), color_, and depth_.

Referenced by cloudViewer::t::geometry::pybind_image().

◆ Clone()

RGBDImage cloudViewer::t::geometry::RGBDImage::Clone ( ) const

inline

Returns copy of the RGBD image on the same device.

Definition at line 91 of file RGBDImage.h.

References color_, cloudViewer::t::geometry::Image::GetDevice(), and To().

Referenced by cloudViewer::t::geometry::pybind_image().

◆ GetDevice()

core::Device cloudViewer::t::geometry::RGBDImage::GetDevice ( ) const

inlineoverridevirtual

Returns the device of the geometry.

Implements cloudViewer::t::geometry::Geometry.

Definition at line 45 of file RGBDImage.h.

References color_, depth_, cloudViewer::t::geometry::Image::GetDevice(), LogError, and cloudViewer::core::Device::ToString().

◆ GetMaxBound()

core::Tensor cloudViewer::t::geometry::RGBDImage::GetMaxBound ( ) const

inline

Compute max 2D coordinates for the data.

Definition at line 73 of file RGBDImage.h.

References color_, depth_, cloudViewer::t::geometry::Image::GetCols(), cloudViewer::t::geometry::Image::GetRows(), and cloudViewer::core::Int64.

Referenced by cloudViewer::t::geometry::pybind_image().

◆ GetMinBound()

core::Tensor cloudViewer::t::geometry::RGBDImage::GetMinBound ( ) const

inline

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

Definition at line 68 of file RGBDImage.h.

References cloudViewer::core::Int64, and cloudViewer::core::Tensor::Zeros().

Referenced by cloudViewer::t::geometry::pybind_image().

◆ IsEmpty()

bool cloudViewer::t::geometry::RGBDImage::IsEmpty ( ) const

overridevirtual

Is any data stored?

Implements cloudViewer::t::geometry::Geometry.

Definition at line 20 of file RGBDImage.cpp.

References color_, depth_, and cloudViewer::t::geometry::Image::IsEmpty().

Referenced by cloudViewer::t::geometry::pybind_image().

◆ To()

RGBDImage cloudViewer::t::geometry::RGBDImage::To	(	const core::Device &	device,
		bool	copy = `false`
	)		const

inline

Transfer the RGBD image to a specified device.

Parameters

device	The targeted device to convert to.
copy	If true, a new image is always created; if false, the copy is avoided when the original image is already on the target device.

Definition at line 85 of file RGBDImage.h.

References aligned_, color_, copy, depth_, RGBDImage(), and cloudViewer::t::geometry::Image::To().

Referenced by Clone(), and cloudViewer::t::geometry::pybind_image().