60 "Aligned image pair must have the same resolution.");
67 if (color_device != depth_device) {
69 "Color {} and depth {} are not on the same device.",
math::float4 color
Definition: LineSetBuffers.cpp:64
#define LogWarning(...)
Definition: Logging.h:79
#define LogError(...)
Definition: Logging.h:67
bool copy
Definition: VtkUtils.cpp:89
std::string ToString() const
Returns string representation of device, e.g. "CPU:0", "CUDA:0".
Definition: Device.cpp:107
static Tensor Zeros(const SizeVector &shape, Dtype dtype, const Device &device=Device("CPU:0"))
Create a tensor fill with zeros.
Definition: Tensor.cpp:392
RGBDImage is for a pair of registered color and depth images,.
Definition: RGBDImage.h:46
The base geometry class.
Definition: Geometry.h:42
GeometryType
Specifies possible geometry types.
Definition: Geometry.h:47
The Image class stores image with customizable rows, cols, channels, dtype and device.
Definition: Image.h:48
core::Device GetDevice() const override
Get device of the image.
Definition: Image.h:115
int64_t GetRows() const
Get the number of rows of the image.
Definition: Image.h:103
int64_t GetCols() const
Get the number of columns of the image.
Definition: Image.h:106
open3d::geometry::Image ToLegacy() const
Convert to legacy Image type.
Definition: Image.cpp:546
Image To(const core::Device &device, bool copy=false) const
Transfer the image to a specified device.
Definition: Image.h:151
RGBDImage A pair of color and depth images.
Definition: RGBDImage.h:40
Image color_
The color image.
Definition: RGBDImage.h:123
std::string ToString() const
Text description.
Definition: RGBDImage.cpp:41
Image depth_
The depth image.
Definition: RGBDImage.h:125
RGBDImage()
Default Comnstructor.
Definition: RGBDImage.h:43
RGBDImage Clone() const
Returns copy of the RGBD image on the same device.
Definition: RGBDImage.h:110
core::Tensor GetMaxBound() const
Compute max 2D coordinates for the data.
Definition: RGBDImage.h:92
RGBDImage & Clear() override
Clear stored data.
Definition: RGBDImage.cpp:33
~RGBDImage() override
Definition: RGBDImage.h:75
bool AreAligned() const
Are the depth and color images aligned (same viewpoint and resolution)?
Definition: RGBDImage.h:84
open3d::geometry::RGBDImage ToLegacy() const
Convert to the legacy RGBDImage format.
Definition: RGBDImage.h:113
RGBDImage(const Image &color, const Image &depth, bool aligned=true)
Parameterized Constructor.
Definition: RGBDImage.h:51
RGBDImage To(const core::Device &device, bool copy=false) const
Definition: RGBDImage.h:104
bool aligned_
Are the depth and color images aligned (same viewpoint and resolution)?
Definition: RGBDImage.h:127
core::Tensor GetMinBound() const
Compute min 2D coordinates for the data (always {0,0}).
Definition: RGBDImage.h:87
bool IsEmpty() const override
Is any data stored?
Definition: RGBDImage.cpp:39
core::Device GetDevice() const override
Returns the device of the geometry.
Definition: RGBDImage.h:64
const Dtype Int64
Definition: Dtype.cpp:66
Definition: PinholeCameraIntrinsic.cpp:35