RGBDImage.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "Image.h"
#include "ecvHObject.h"
 
namespace cloudViewer {
namespace geometry {
 
class RGBDImage;
 
typedef std::vector<std::shared_ptr<RGBDImage>> RGBDImagePyramid;
 
class CV_DB_LIB_API RGBDImage : public ccHObject {
public:
    RGBDImage(const char *name = "RGBD_Image") : ccHObject(name) {}
    RGBDImage(const Image &color,
              const Image &depth,
              const char *name = "RGBD_Image")
        : ccHObject(name), color_(color), depth_(depth) {}
 
    ~RGBDImage() override {
        color_.Clear();
        depth_.Clear();
    };
 
    // inherited methods (ccHObject)
    virtual bool isSerializable() const override { return true; }
 
    virtual CV_CLASS_ENUM getClassID() const override {
        return CV_TYPES::RGBD_IMAGE;
    }
 
    virtual ccBBox getOwnBB(bool withGLFeatures = false) override;
 
public:
    RGBDImage &Clear();
    inline virtual bool IsEmpty() const override {
        return !color_.HasData() || !depth_.HasData();
    }
 
    virtual Eigen::Vector2d GetMin2DBound() const override;
    virtual Eigen::Vector2d GetMax2DBound() const override;
 
    static std::shared_ptr<RGBDImage> CreateFromColorAndDepth(
            const Image &color,
            const Image &depth,
            double depth_scale = 1000.0,
            double depth_trunc = 3.0,
            bool convert_rgb_to_intensity = true);
 
    static std::shared_ptr<RGBDImage> CreateFromRedwoodFormat(
            const Image &color,
            const Image &depth,
            bool convert_rgb_to_intensity = true);
 
    static std::shared_ptr<RGBDImage> CreateFromTUMFormat(
            const Image &color,
            const Image &depth,
            bool convert_rgb_to_intensity = true);
 
    static std::shared_ptr<RGBDImage> CreateFromSUNFormat(
            const Image &color,
            const Image &depth,
            bool convert_rgb_to_intensity = true);
 
    static std::shared_ptr<RGBDImage> CreateFromNYUFormat(
            const Image &color,
            const Image &depth,
            bool convert_rgb_to_intensity = true);
 
    static RGBDImagePyramid FilterPyramid(
            const RGBDImagePyramid &rgbd_image_pyramid, Image::FilterType type);
 
    RGBDImagePyramid CreatePyramid(
            size_t num_of_levels,
            bool with_gaussian_filter_for_color = true,
            bool with_gaussian_filter_for_depth = false) const;
 
public:
    Image color_;
    Image depth_;
};
 
}  // namespace geometry
}  // namespace cloudViewer