open3d.geometry.Geometry3D

class open3d.geometry.Geometry3D

The base geometry class for 3D geometries.

class Type

Enum class for Geometry types.

HalfEdgeTriangleMesh = Type.HalfEdgeTriangleMesh
Image = Type.Image
LineSet = Type.LineSet
PointCloud = Type.PointCloud
RGBDImage = Type.RGBDImage
TetraMesh = Type.TetraMesh
TriangleMesh = Type.TriangleMesh
Unspecified = Type.Unspecified
VoxelGrid = Type.VoxelGrid
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

clear(self)

Clear all elements in the geometry.

Returns

open3d.cpu.pybind.geometry.Geometry

dimension(self)

Returns whether the geometry is 2D or 3D.

Returns

int

get_axis_aligned_bounding_box(self)

Returns an axis-aligned bounding box of the geometry.

Returns

open3d.geometry.AxisAlignedBoundingBox

get_center(self)

Returns the center of the geometry coordinates.

Returns

numpy.ndarray[float64[3, 1]]

get_geometry_type(self)

Returns one of registered geometry types.

Returns

open3d.geometry.Geometry.GeometryType

get_max_bound(self)

Returns max bounds for geometry coordinates.

Returns

numpy.ndarray[float64[3, 1]]

get_min_bound(self)

Returns min bounds for geometry coordinates.

Returns

numpy.ndarray[float64[3, 1]]

get_oriented_bounding_box(self)

Returns an oriented bounding box of the geometry.

Returns

open3d.geometry.OrientedBoundingBox

static get_rotation_matrix_from_axis_angle(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_quaternion(rotation: numpy.ndarray[float64[4, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_xyz(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_xzy(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_yxz(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_yzx(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_zxy(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
static get_rotation_matrix_from_zyx(rotation: numpy.ndarray[float64[3, 1]]) → numpy.ndarray[float64[3, 3]]
is_empty(self)

Returns True iff the geometry is empty.

Returns

bool

Geometry3D.rotate(R, R, center)

Apply rotation to the geometry coordinates and normals.

Parameters
  • R (numpy.ndarray[float64[3, 3]]) – The rotation matrix

  • R – The rotation matrix

  • center (numpy.ndarray[float64[3, 1]]) – Rotation center used for transformation

Returns

open3d.cpu.pybind.geometry.Geometry3D

Geometry3D.scale(scale, center, scale, center)

Apply scaling to the geometry coordinates.

Parameters
  • scale (float) – The scale parameter that is multiplied to the points/vertices of the geometry

  • center (numpy.ndarray[float64[3, 1]]) – Scale center used for transformation

  • scale – The scale parameter that is multiplied to the points/vertices of the geometry

  • center – Scale center used for transformation

Returns

open3d.cpu.pybind.geometry.Geometry3D

transform(self, arg0)

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

Parameters

arg0 (numpy.ndarray[float64[4, 4]]) –

Returns

open3d.cpu.pybind.geometry.Geometry3D

translate(self, translation, relative=True)

Apply translation to the geometry coordinates.

Parameters
  • translation (numpy.ndarray[float64[3, 1]]) – 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

open3d.cpu.pybind.geometry.Geometry3D

HalfEdgeTriangleMesh = Type.HalfEdgeTriangleMesh
Image = Type.Image
LineSet = Type.LineSet
PointCloud = Type.PointCloud
RGBDImage = Type.RGBDImage
TetraMesh = Type.TetraMesh
TriangleMesh = Type.TriangleMesh
Unspecified = Type.Unspecified
VoxelGrid = Type.VoxelGrid