cloudViewer.geometry.RGBDImage

class cloudViewer.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.

BBOX = <Type.BBOX: 35184372088835>

BOX = <Type.BOX: 524809>

CAMERA_SENSOR = <Type.CAMERA_SENSOR: 4294975489>

CONE = <Type.CONE: 262665>

CUSTOM_H_OBJECT = <Type.CUSTOM_H_OBJECT: 129>

CYLINDER = <Type.CYLINDER: 393737>

DISH = <Type.DISH: 1049097>

EXTRU = <Type.EXTRU: 2097673>

FACET = <Type.FACET: 8388609>

GBL_SENSOR = <Type.GBL_SENSOR: 134225921>

IMAGE = <Type.IMAGE: 4097>

IMAGE2 = <Type.IMAGE2: 562949953421315>

LABEL_2D = <Type.LABEL_2D: 35>

LINESET = <Type.LINESET: 2251799813685249>

MATERIAL_SET = <Type.MATERIAL_SET: 16777222>

MESH = <Type.MESH: 513>

MESH_GROUP = <Type.MESH_GROUP: 517>

OLD_CYLINDER_ID = <Type.OLD_CYLINDER_ID: 131593>

ORIENTED_BBOX = <Type.ORIENTED_BBOX: 70368744177667>

PLANE = <Type.PLANE: 16905>

POINT_CLOUD = <Type.POINT_CLOUD: 257>

POINT_KDTREE = <Type.POINT_KDTREE: 4194307>

POINT_OCTREE = <Type.POINT_OCTREE: 1027>

POINT_OCTREE2 = <Type.POINT_OCTREE2: 140737488355331>

POLY_LINE = <Type.POLY_LINE: 2049>

PRIMITIVE = <Type.PRIMITIVE: 521>

QUADRIC = <Type.QUADRIC: 8589935113>

RGBD_IMAGE = <Type.RGBD_IMAGE: 1125899906842627>

SENSOR = <Type.SENSOR: 8193>

SPHERE = <Type.SPHERE: 33289>

SUB_MESH = <Type.SUB_MESH: 515>

TETRA_MESH = <Type.TETRA_MESH: 27021597764222977>

TORUS = <Type.TORUS: 66057>

VIEWPORT_2D_LABEL = <Type.VIEWPORT_2D_LABEL: 99>

VIEWPORT_2D_OBJECT = <Type.VIEWPORT_2D_OBJECT: 67>

VOXEL_GRID = <Type.VOXEL_GRID: 281474976710657>

property name

property value

static New(*args, **kwargs)

Overloaded function.

1. New(objectType: typing.SupportsInt, name: str = None) -> cloudViewer.geometry.ccHObject

2. New(pluginId: QString, classId: QString, name: str = None) -> cloudViewer.geometry.ccHObject

__init__(self: cloudViewer.geometry.RGBDImage) → None

Default constructor

add_child(self, child, dependencyFlags=24, insertIndex=-1)

Adds a child.

Parameters:

• child (cloudViewer.geometry.ccHObject) – child instance geometry

• dependencyFlags (SupportsInt, optional, default=24) – dependency flags

• insertIndex (SupportsInt, optional, default=-1) – insertion index (if <0, child is simply appended to the children list)

Returns:

bool

colors_shown(self)

Returns whether colors are shown or not.

Returns:

bool

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 (cloudViewer.geometry.Image) – The color image.

• depth (cloudViewer.geometry.Image) – The depth image.

• depth_scale (SupportsFloat, optional, default=1000.0) – The ratio to scale depth values. The depth values will first be scaled and then truncated.

• depth_trunc (SupportsFloat, 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:

cloudViewer.geometry.RGBDImage

static create_from_nyu_format(color, depth, convert_rgb_to_intensity=True)

Function to make RGBDImage (for NYU format)

Parameters:

• color (cloudViewer.geometry.Image) – The color image.

• depth (cloudViewer.geometry.Image) – The depth image.

• convert_rgb_to_intensity (bool, optional, default=True) – Whether to convert RGB image to intensity image.

Returns:

cloudViewer.geometry.RGBDImage

static create_from_redwood_format(color, depth, convert_rgb_to_intensity=True)

Function to make RGBDImage (for Redwood format)

Parameters:

• color (cloudViewer.geometry.Image) – The color image.

• depth (cloudViewer.geometry.Image) – The depth image.

• convert_rgb_to_intensity (bool, optional, default=True) – Whether to convert RGB image to intensity image.

Returns:

cloudViewer.geometry.RGBDImage

static create_from_sun_format(color, depth, convert_rgb_to_intensity=True)

Function to make RGBDImage (for SUN format)

Parameters:

• color (cloudViewer.geometry.Image) – The color image.

• depth (cloudViewer.geometry.Image) – The depth image.

• convert_rgb_to_intensity (bool, optional, default=True) – Whether to convert RGB image to intensity image.

Returns:

cloudViewer.geometry.RGBDImage

static create_from_tum_format(color, depth, convert_rgb_to_intensity=True)

Function to make RGBDImage (for TUM format)

Parameters:

• color (cloudViewer.geometry.Image) – The color image.

• depth (cloudViewer.geometry.Image) – The depth image.

• convert_rgb_to_intensity (bool, optional, default=True) – Whether to convert RGB image to intensity image.

Returns:

cloudViewer.geometry.RGBDImage

enable_gl_transformation(self, state)

Enables/disables associated GL transformation.

Parameters:

state (bool) –

Returns:

None

enable_temp_color(self, state)

Set temporary color activation state.

Parameters:

state (bool) –

Returns:

None

filter_children(self, recursive=False, filter=<Type.???: 0>, strict=False)

Collects the children corresponding to a certain pattern.

Parameters:

• recursive (bool, optional, default=False) – specifies if the search should be recursive

• (typing.SupportsInt (filter) – 0>): pattern for children selection

• optional – 0>): pattern for children selection

• default=<Type.??? – 0>): pattern for children selection

• strict (bool, optional, default=False) – whether the search is strict on the type (i.e ‘isA’) or not (i.e. ‘isKindOf’)

Returns:

list[cloudViewer.geometry.ccHObject]

find(self, unique_id)

Finds an entity in this object hierarchy.

Parameters:

unique_id (SupportsInt) –

Returns:

cloudViewer.geometry.ccHObject

from_file(self, filename, dataVersion, flags)

Loads data from binary stream.

Parameters:

• filename (str) –

• dataVersion (SupportsInt) – file version

• flags (SupportsInt) – deserialization flags (see ccSerializableObject::DeserializationFlags)

Returns:

bool

get_axis_aligned_bounding_box(self)

Returns an axis-aligned bounding box of the geometry.

Returns:

ccBBox

get_center(self)

Returns the center of the geometry coordinates.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_child(self, childPos)

Returns the ith child.

Parameters:

childPos (SupportsInt) – child position

Returns:

cloudViewer.geometry.ccHObject

get_children_number(self)

Returns the number of children.

Returns:

int

get_class_id(self)

Returns class ID.

Returns:

int

get_glTransformation_history(self)

Returns the transformation ‘history’ matrix.

Returns:

ccGLMatrix

get_gl_transformation(self)

Returns associated GL transformation.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float32], “[4, 4]”]

get_max_2Dbound(self)

Returns max 2d bounds for geometry coordinates.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[2, 1]”]

get_max_bound(self)

Returns max bounds for geometry coordinates.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_min_2Dbound(self)

Returns min 2d bounds for geometry coordinates.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[2, 1]”]

get_min_bound(self)

Returns min bounds for geometry coordinates.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_name(self)

Returns object name.

Returns:

str

get_opacity(self)

Get opacity.

Returns:

float

get_oriented_bounding_box(self)

Returns an oriented bounding box of the geometry.

Returns:

ecvOrientedBBox

get_own_bounding_box(self, withGLFeatures=False)

Returns an axis-aligned bounding box of the geometry.

Parameters:

withGLFeatures (bool, optional, default=False) – whether use openGL features.

Returns:

ccBBox

get_parent(self)

Returns parent object.

Returns:

cloudViewer.geometry.ccHObject

static get_rotation_matrix_from_axis_angle(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

static get_rotation_matrix_from_euler_angle(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

static get_rotation_matrix_from_quaternion(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[4, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

static get_rotation_matrix_from_xyz(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

static get_rotation_matrix_from_xzy(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

static get_rotation_matrix_from_yxz(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

static get_rotation_matrix_from_yzx(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

static get_rotation_matrix_from_zxy(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

static get_rotation_matrix_from_zyx(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

get_temp_color(self)

Returns current temporary (unique) color.

Returns:

typing.Annotated[numpy.typing.NDArray[numpy.float64], “[3, 1]”]

get_unique_id(self)

Returns object unique ID.

Returns:

int

has_colors(self)

Returns whether colors are enabled or not.

Returns:

bool

has_displayed_scalar_field(self)

Returns whether an active scalar field is available or not.

Returns:

bool

has_normals(self)

Returns whether normals are enabled or not.

Returns:

bool

has_scalar_fields(self)

Returns whether one or more scalar fields are instantiated.

Returns:

bool

is_a(self, type)

Returns whether the geometry is a type pointed.

Parameters:

type (SupportsInt) –

Returns:

bool

is_color_overriden(self)

Returns whether colors are currently overridden by a temporary (unique) color.

Returns:

bool

is_custom(self)

Returns whether the geometry is custom.

Returns:

bool

is_empty(self)

Returns True if the geometry is empty.

Returns:

bool

is_gl_trans_enabled(self)

Returns whether a GL transformation is enabled or not.

Returns:

bool

is_group(self)

Returns whether the instance is a group.

Returns:

bool

is_hierarchy(self)

Returns whether the geometry is hierarchy.

Returns:

bool

is_kind_of(self, type)

Returns whether the geometry is kind of the type pointed.

Parameters:

type (SupportsInt) –

Returns:

bool

is_leaf(self)

Returns whether the geometry is leaf.

Returns:

bool

is_selected(self)

Returns whether entity is selected or not.

Returns:

bool

is_serializable(self)

Returns whether the instance is a serializable.

Returns:

bool

is_visible(self)

Returns whether entity is visible or not.

Returns:

bool

is_visiblity_locked(self)

Returns whether visibility is locked or not.

Returns:

bool

lock_visibility(self, state)

Locks/unlocks visibility.

Parameters:

state (bool) –

Returns:

None

minimum_file_version(self: cloudViewer.geometry.ccHObject) → int

Returns the minimum file version required to save this object

name_3d_shown(self)

Returns whether name is displayed in 3D or not.

Returns:

bool

normals_shown(self)

Returns whether normals are shown or not.

Returns:

bool

remove_all_children(self)

Clear all children in the geometry.

Returns:

None

remove_child(*args, **kwargs)

Overloaded function.

1. remove_child(self: cloudViewer.geometry.ccHObject, child: cloudViewer.geometry.ccHObject) -> None

Removes a specific child.

2. remove_child(self: cloudViewer.geometry.ccHObject, pos: typing.SupportsInt) -> None

Removes a specific child given its index.

reset_glTransformation_history(self)

Resets the transformation ‘history’ matrix.

Returns:

None

reset_gl_transformation(self)

Resets associated GL transformation.

Returns:

None

rotate(*args, **kwargs)

Overloaded function.

1. rotate(self, R)

   Apply rotation to the geometry coordinates and normals.

Parameters:

R (Annotated[numpy.typing.ArrayLike, numpy.float64,) – The rotation matrix

Returns:

cloudViewer.geometry.ccHObject

2. rotate(self, R, center)

   Apply rotation to the geometry coordinates and normals.

Parameters:

• R (Annotated[numpy.typing.ArrayLike, numpy.float64,) – The rotation matrix

• center (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Rotation center used for transformation

Returns:

cloudViewer.geometry.ccHObject

rotate_gl(self, rotation)

Multiplies (left) current GL transformation by a rotation matrix.

Parameters:

rotation (Annotated[numpy.typing.ArrayLike, numpy.float64,) –

Returns:

None

scale(*args, **kwargs)

Overloaded function.

1. scale(self, scale)

   Apply scaling to the geometry coordinates.

Parameters:

scale (SupportsFloat) –

Returns:

cloudViewer.geometry.ccHObject

2. scale(self, scale, center)

   Apply scaling to the geometry coordinates.

Parameters:

• scale (SupportsFloat) –

• center (Annotated[numpy.typing.ArrayLike, numpy.float64,) – Scale center used for transformation

Returns:

cloudViewer.geometry.ccHObject

set_glTransformation_history(self, mat)

Sets the transformation ‘history’ matrix (handle with care!).

Parameters:

mat (ccGLMatrix) – transformation ‘history’ matrix

Returns:

None

set_gl_transformation(self, transformation)

Associates entity with a GL transformation (rotation + translation).

Parameters:

transformation (Annotated[numpy.typing.ArrayLike, numpy.float64,) –

Returns:

None

set_lineWidth_recursive(self, width)

Sets the line width.

Parameters:

width (SupportsFloat) – line width

Returns:

None

set_name(self, arg0)

Sets object name.

Parameters:

arg0 (str) –

Returns:

None

set_opacity(self, opacity)

Set opacity activation state.

Parameters:

opacity (SupportsFloat) –

Returns:

None

set_pointSize_recursive(self, pSize)

Sets the point size.

Parameters:

pSize (SupportsInt) – point size

Returns:

None

set_selected(self, state)

Selects/Unselects entity.

Parameters:

state (bool) –

Returns:

None

set_temp_color(self, color, auto_activate=True)

Sets current temporary (unique).

Parameters:

• color (Annotated[numpy.typing.ArrayLike, numpy.float64,) – rgb color

• auto_activate (bool, optional, default=True) – auto activates temporary color

Returns:

None

set_unique_id(self, ID)

Changes unique ID.

Parameters:

ID (SupportsInt) –

Returns:

None

set_visible(self, state)

Sets entity visibility.

Parameters:

state (bool) –

Returns:

None

sf_shown(self)

Returns whether active scalar field is visible.

Returns:

bool

show_3d_name(self, state)

Sets whether name should be displayed in 3D.

Parameters:

state (bool) –

Returns:

None

show_colors(self, state)

Sets colors visibility.

Parameters:

state (bool) –

Returns:

None

show_normals(self, state)

Sets normals visibility.

Parameters:

state (bool) –

Returns:

None

show_sf(self, state)

Sets active scalar field visibility.

Parameters:

state (bool) –

Returns:

None

to_file(self, filename, data_version)

Saves data to binary stream.

Parameters:

• filename (str) –

• data_version (SupportsInt) –

Returns:

bool

toggle_colors(self)

Toggles colors display state.

Returns:

None

toggle_materials(self)

Toggles material display state.

Returns:

None

toggle_normals(self)

Toggles normals display state.

Returns:

None

toggle_sf(self)

Toggles SF display state.

Returns:

None

toggle_show_name(self)

Toggles name in 3D display state.

Returns:

None

toggle_visibility(self)

Toggles visibility.

Returns:

None

transform(self, arg0)

Apply transformation (4x4 matrix) to the geometry coordinates.

Parameters:

arg0 (Annotated[numpy.typing.ArrayLike, numpy.float64,) –

Returns:

cloudViewer.geometry.ccHObject

translate(self, translation, relative=True)

Apply translation to the geometry coordinates.

Parameters:

• translation (Annotated[numpy.typing.ArrayLike, numpy.float64,) – A 3D vector to transform the geometry

• relative (bool, optional, default=True) – If true, the translation vector is directly added to the geometry coordinates. Otherwise, the center is moved to the translation vector.

Returns:

cloudViewer.geometry.ccHObject

translate_gl(self, translation)

Translates current GL transformation by a rotation matrix.

Parameters:

translation (Annotated[numpy.typing.ArrayLike, numpy.float64,) –

Returns:

None

BBOX = <Type.BBOX: 35184372088835>

BOX = <Type.BOX: 524809>

CAMERA_SENSOR = <Type.CAMERA_SENSOR: 4294975489>

CONE = <Type.CONE: 262665>

CUSTOM_H_OBJECT = <Type.CUSTOM_H_OBJECT: 129>

CYLINDER = <Type.CYLINDER: 393737>

DISH = <Type.DISH: 1049097>

EXTRU = <Type.EXTRU: 2097673>

FACET = <Type.FACET: 8388609>

GBL_SENSOR = <Type.GBL_SENSOR: 134225921>

IMAGE = <Type.IMAGE: 4097>

IMAGE2 = <Type.IMAGE2: 562949953421315>

LABEL_2D = <Type.LABEL_2D: 35>

LINESET = <Type.LINESET: 2251799813685249>

MATERIAL_SET = <Type.MATERIAL_SET: 16777222>

MESH = <Type.MESH: 513>

MESH_GROUP = <Type.MESH_GROUP: 517>

OLD_CYLINDER_ID = <Type.OLD_CYLINDER_ID: 131593>

ORIENTED_BBOX = <Type.ORIENTED_BBOX: 70368744177667>

PLANE = <Type.PLANE: 16905>

POINT_CLOUD = <Type.POINT_CLOUD: 257>

POINT_KDTREE = <Type.POINT_KDTREE: 4194307>

POINT_OCTREE = <Type.POINT_OCTREE: 1027>

POINT_OCTREE2 = <Type.POINT_OCTREE2: 140737488355331>

POLY_LINE = <Type.POLY_LINE: 2049>

PRIMITIVE = <Type.PRIMITIVE: 521>

QUADRIC = <Type.QUADRIC: 8589935113>

RGBD_IMAGE = <Type.RGBD_IMAGE: 1125899906842627>

SENSOR = <Type.SENSOR: 8193>

SPHERE = <Type.SPHERE: 33289>

SUB_MESH = <Type.SUB_MESH: 515>

TETRA_MESH = <Type.TETRA_MESH: 27021597764222977>

TORUS = <Type.TORUS: 66057>

VIEWPORT_2D_LABEL = <Type.VIEWPORT_2D_LABEL: 99>

VIEWPORT_2D_OBJECT = <Type.VIEWPORT_2D_OBJECT: 67>

VOXEL_GRID = <Type.VOXEL_GRID: 281474976710657>

property color

The color image.

Type:

cloudViewer.geometry.Image

property depth

The depth image.

Type:

cloudViewer.geometry.Image