RGBDImage.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "cloudViewer/geometry/RGBDImage.h"
#include "cloudViewer/t/geometry/Image.h"
 
namespace cloudViewer {
namespace t {
namespace geometry {
 
class RGBDImage : public Geometry {
public:
    RGBDImage() : Geometry(Geometry::GeometryType::RGBDImage, 2) {}
 
    RGBDImage(const Image &color, const Image &depth, bool aligned = true)
        : Geometry(Geometry::GeometryType::RGBDImage, 2),
          color_(color),
          depth_(depth),
          aligned_(aligned) {
        if (color.GetRows() != depth.GetRows() ||
            color.GetCols() != depth.GetCols()) {
            aligned_ = false;
            utility::LogWarning(
                    "Aligned image pair must have the same resolution.");
        }
    }
 
    core::Device GetDevice() const override {
        core::Device color_device = color_.GetDevice();
        core::Device depth_device = depth_.GetDevice();
        if (color_device != depth_device) {
            utility::LogError(
                    "Color {} and depth {} are not on the same device.",
                    color_device.ToString(), depth_device.ToString());
        }
        return color_device;
    }
 
    ~RGBDImage() override {};
 
    RGBDImage &Clear() override;
 
    bool IsEmpty() const override;
 
    bool AreAligned() const { return aligned_; }
 
    core::Tensor GetMinBound() const {
        return core::Tensor::Zeros({2}, core::Int64);
    }
 
    core::Tensor GetMaxBound() const {
        return core::Tensor(
                std::vector<int64_t>{color_.GetCols() + depth_.GetCols(),
                                     color_.GetRows()},
                {2}, core::Int64);
    }
 
    RGBDImage To(const core::Device &device, bool copy = false) const {
        return RGBDImage(color_.To(device, copy), depth_.To(device, copy),
                         aligned_);
    }
 
    RGBDImage Clone() const { return To(color_.GetDevice(), /*copy=*/true); }
 
    cloudViewer::geometry::RGBDImage ToLegacy() const {
        return cloudViewer::geometry::RGBDImage(color_.ToLegacy(),
                                                depth_.ToLegacy());
    }
 
    std::string ToString() const;
 
public:
    Image color_;
    Image depth_;
    bool aligned_ = true;
};
 
}  // namespace geometry
}  // namespace t
}  // namespace cloudViewer