A point cloud consists of point coordinates, and optionally point colors and point normals. More...

#include <PointCloud.h>

Inheritance diagram for open3d::geometry::PointCloud:

Public Member Functions
	PointCloud ()
	Default Constructor. More...

	PointCloud (const std::vector< Eigen::Vector3d > &points)
	Parameterized Constructor. More...

	~PointCloud () override

PointCloud &	Clear () override
	Clear all elements in the geometry. More...

bool	IsEmpty () const override
	Returns `true` iff the geometry is empty. More...

Eigen::Vector3d	GetMinBound () const override
	Returns min bounds for geometry coordinates. More...

Eigen::Vector3d	GetMaxBound () const override
	Returns max bounds for geometry coordinates. More...

Eigen::Vector3d	GetCenter () const override
	Returns the center of the geometry coordinates. More...

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const override
	Returns an axis-aligned bounding box of the geometry. More...

OrientedBoundingBox	GetOrientedBoundingBox () const override
	Returns an oriented bounding box of the geometry. More...

PointCloud &	Transform (const Eigen::Matrix4d &transformation) override
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

PointCloud &	Translate (const Eigen::Vector3d &translation, bool relative=true) override
	Apply translation to the geometry coordinates. More...

PointCloud &	Scale (const double scale, const Eigen::Vector3d &center) override
	Apply scaling to the geometry coordinates. Given a scaling factor , and center , a given point is transformed according to . More...

PointCloud &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center) override
	Apply rotation to the geometry coordinates and normals. Given a rotation matrix , and center , a given point is transformed according to . More...

PointCloud &	operator+= (const PointCloud &cloud)

PointCloud	operator+ (const PointCloud &cloud) const

bool	HasPoints () const
	Returns 'true' if the point cloud contains points. More...

bool	HasNormals () const
	Returns `true` if the point cloud contains point normals. More...

bool	HasColors () const
	Returns `true` if the point cloud contains point colors. More...

PointCloud &	NormalizeNormals ()
	Normalize point normals to length 1. More...

PointCloud &	PaintUniformColor (const Eigen::Vector3d &color)

PointCloud &	RemoveNonFinitePoints (bool remove_nan=true, bool remove_infinite=true)
	Remove all points from the point cloud that have a nan entry, or infinite entries. More...

std::shared_ptr< PointCloud >	SelectByIndex (const std::vector< size_t > &indices, bool invert=false) const
	Function to select points from `input` pointcloud into `output` pointcloud. More...

std::shared_ptr< PointCloud >	VoxelDownSample (double voxel_size) const
	Function to downsample input pointcloud into output pointcloud with a voxel. More...

std::tuple< std::shared_ptr< PointCloud >, Eigen::MatrixXi, std::vector< std::vector< int > > >	VoxelDownSampleAndTrace (double voxel_size, const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound, bool approximate_class=false) const
	Function to downsample using geometry.PointCloud.VoxelDownSample. More...

std::shared_ptr< PointCloud >	UniformDownSample (size_t every_k_points) const
	Function to downsample input pointcloud into output pointcloud uniformly. More...

std::shared_ptr< PointCloud >	Crop (const AxisAlignedBoundingBox &bbox) const
	Function to crop pointcloud into output pointcloud. More...

std::shared_ptr< PointCloud >	Crop (const OrientedBoundingBox &bbox) const
	Function to crop pointcloud into output pointcloud. More...

std::tuple< std::shared_ptr< PointCloud >, std::vector< size_t > >	RemoveRadiusOutliers (size_t nb_points, double search_radius) const
	Function to remove points that have less than `nb_points` in a sphere of a given radius. More...

std::tuple< std::shared_ptr< PointCloud >, std::vector< size_t > >	RemoveStatisticalOutliers (size_t nb_neighbors, double std_ratio) const
	Function to remove points that are further away from their `nb_neighbor` neighbors in average. More...

void	EstimateNormals (const KDTreeSearchParam &search_param=KDTreeSearchParamKNN(), bool fast_normal_computation=true)
	Function to compute the normals of a point cloud. More...

void	OrientNormalsToAlignWithDirection (const Eigen::Vector3d &orientation_reference=Eigen::Vector3d(0.0, 0.0, 1.0))
	Function to orient the normals of a point cloud. More...

void	OrientNormalsTowardsCameraLocation (const Eigen::Vector3d &camera_location=Eigen::Vector3d::Zero())
	Function to orient the normals of a point cloud. More...

void	OrientNormalsConsistentTangentPlane (size_t k)
	Function to consistently orient estimated normals based on consistent tangent planes as described in Hoppe et al., "Surface Reconstruction from Unorganized Points", 1992. More...

std::vector< double >	ComputePointCloudDistance (const PointCloud &target)
	Function to compute the point to point distances between point clouds. More...

std::tuple< Eigen::Vector3d, Eigen::Matrix3d >	ComputeMeanAndCovariance () const

std::vector< double >	ComputeMahalanobisDistance () const
	Function to compute the Mahalanobis distance for points in an input point cloud. More...

std::vector< double >	ComputeNearestNeighborDistance () const

std::tuple< std::shared_ptr< TriangleMesh >, std::vector< size_t > >	ComputeConvexHull () const
	Function that computes the convex hull of the point cloud using qhull. More...

std::tuple< std::shared_ptr< TriangleMesh >, std::vector< size_t > >	HiddenPointRemoval (const Eigen::Vector3d &camera_location, const double radius) const
	This is an implementation of the Hidden Point Removal operator described in Katz et. al. 'Direct Visibility of Point Sets', 2007. More...

std::vector< int >	ClusterDBSCAN (double eps, size_t min_points, bool print_progress=false) const
	Cluster PointCloud using the DBSCAN algorithm Ester et al., "A Density-Based Algorithm for Discovering Clusters in Large Spatial Databases with Noise", 1996. More...

std::tuple< Eigen::Vector4d, std::vector< size_t > >	SegmentPlane (const double distance_threshold=0.01, const int ransac_n=3, const int num_iterations=100) const
	Segment PointCloud plane using the RANSAC algorithm. More...

std::shared_ptr< PointCloud >	CreateFromVoxelGrid (const VoxelGrid &voxel_grid)
	Function to create a PointCloud from a VoxelGrid. More...

Public Member Functions inherited from open3d::geometry::Geometry3D
	~Geometry3D () override

virtual Geometry3D &	Rotate (const Eigen::Matrix3d &R)

Public Member Functions inherited from open3d::geometry::Geometry
virtual	~Geometry ()

GeometryType	GetGeometryType () const
	Returns one of registered geometry types. More...

int	Dimension () const
	Returns whether the geometry is 2D or 3D. More...

std::string	GetName () const

void	SetName (const std::string &name)

Static Public Member Functions
static std::shared_ptr< PointCloud >	CreateFromDepthImage (const Image &depth, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic=Eigen::Matrix4d::Identity(), double depth_scale=1000.0, double depth_trunc=1000.0, int stride=1, bool project_valid_depth_only=true)
	Factory function to create a pointcloud from a depth image and a camera model. More...

static std::shared_ptr< PointCloud >	CreateFromRGBDImage (const RGBDImage &image, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic=Eigen::Matrix4d::Identity(), bool project_valid_depth_only=true)
	Factory function to create a pointcloud from an RGB-D image and a camera model. More...

Static Public Member Functions inherited from open3d::geometry::Geometry3D
static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

Data Fields
std::vector< Eigen::Vector3d >	points_
	Points coordinates. More...

std::vector< Eigen::Vector3d >	normals_
	Points normals. More...

std::vector< Eigen::Vector3d >	colors_
	RGB colors of points. More...

Additional Inherited Members
Public Types inherited from open3d::geometry::Geometry
enum	GeometryType { GeometryType::Unspecified = 0, GeometryType::PointCloud = 1, GeometryType::VoxelGrid = 2, GeometryType::Octree = 3, GeometryType::LineSet = 4, GeometryType::MeshBase = 5, GeometryType::TriangleMesh = 6, GeometryType::HalfEdgeTriangleMesh = 7, GeometryType::Image = 8, GeometryType::RGBDImage = 9, GeometryType::TetraMesh = 10, GeometryType::OrientedBoundingBox = 11, GeometryType::AxisAlignedBoundingBox = 12 }
	Specifies possible geometry types. More...

Protected Member Functions inherited from open3d::geometry::Geometry3D
	Geometry3D (GeometryType type)
	Parameterized Constructor. More...

Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const
	Compute min bound of a list points. More...

Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const
	Compute max bound of a list points. More...

Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points) const
	Computer center of a list of points. More...

void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, const size_t size, const Eigen::Vector3d &color) const
	Resizes the colors vector and paints a uniform color. More...

void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const
	Transforms all points with the transformation matrix. More...

void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const
	Transforms the normals with the transformation matrix. More...

void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const
	Apply translation to the geometry coordinates. More...

void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center) const
	Scale the coordinates of all points by the scaling factor `scale`. More...

void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center) const
	Rotate all points with the rotation matrix `R`. More...

void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals) const
	Rotate all normals with the rotation matrix `R`. More...

Protected Member Functions inherited from open3d::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

A point cloud consists of point coordinates, and optionally point colors and point normals.

Constructor & Destructor Documentation

◆ PointCloud() [1/2]

open3d::geometry::PointCloud::PointCloud ( )

inline

Default Constructor.

◆ PointCloud() [2/2]

open3d::geometry::PointCloud::PointCloud ( const std::vector< Eigen::Vector3d > & points )

inline

Parameterized Constructor.

Parameters

points Points coordinates.

◆ ~PointCloud()

open3d::geometry::PointCloud::~PointCloud ( )

inlineoverride

Member Function Documentation

◆ Clear()

PointCloud & open3d::geometry::PointCloud::Clear ( )

overridevirtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry3D.

◆ ClusterDBSCAN()

std::vector< int > open3d::geometry::PointCloud::ClusterDBSCAN	(	double	eps,
		size_t	min_points,
		bool	print_progress = `false`
	)		const

Cluster PointCloud using the DBSCAN algorithm Ester et al., "A Density-Based Algorithm for Discovering Clusters in Large Spatial Databases with Noise", 1996.

Returns a list of point labels, -1 indicates noise according to the algorithm.

Parameters

eps	Density parameter that is used to find neighbouring points.
min_points	Minimum number of points to form a cluster.
print_progress	If `true` the progress is visualized in the console.

◆ ComputeConvexHull()

std::tuple< std::shared_ptr< TriangleMesh >, std::vector< size_t > > open3d::geometry::PointCloud::ComputeConvexHull ( ) const

Function that computes the convex hull of the point cloud using qhull.

◆ ComputeMahalanobisDistance()

std::vector< double > open3d::geometry::PointCloud::ComputeMahalanobisDistance ( ) const

Function to compute the Mahalanobis distance for points in an input point cloud.

See: https://en.wikipedia.org/wiki/Mahalanobis_distance

◆ ComputeMeanAndCovariance()

std::tuple< Eigen::Vector3d, Eigen::Matrix3d > open3d::geometry::PointCloud::ComputeMeanAndCovariance ( ) const

Function to compute the mean and covariance matrix of a point cloud.

◆ ComputeNearestNeighborDistance()

std::vector< double > open3d::geometry::PointCloud::ComputeNearestNeighborDistance ( ) const

Function to compute the distance from a point to its nearest neighbor in the input point cloud

◆ ComputePointCloudDistance()

std::vector< double > open3d::geometry::PointCloud::ComputePointCloudDistance ( const PointCloud & target )

Function to compute the point to point distances between point clouds.

For each point in the source point cloud, compute the distance to the target point cloud.

Parameters

target The target point cloud.

◆ CreateFromDepthImage()

std::shared_ptr< PointCloud > open3d::geometry::PointCloud::CreateFromDepthImage	(	const Image &	depth,
		const camera::PinholeCameraIntrinsic &	intrinsic,
		const Eigen::Matrix4d &	extrinsic = `Eigen::Matrix4d::Identity()`,
		double	depth_scale = `1000.0`,
		double	depth_trunc = `1000.0`,
		int	stride = `1`,
		bool	project_valid_depth_only = `true`
	)

static

Factory function to create a pointcloud from a depth image and a camera model.

Given depth value d at (u, v) image coordinate, the corresponding 3d point is: z = d / depth_scale
x = (u - cx) * z / fx
y = (v - cy) * z / fy

Parameters

depth	The input depth image can be either a float image, or a uint16_t image.
intrinsic	Intrinsic parameters of the camera.
extrinsic	Extrinsic parameters of the camera.
depth_scale	The depth is scaled by 1 / `depth_scale`.
depth_trunc	Truncated at `depth_trunc` distance.
stride	Sampling factor to support coarse point cloud extraction.

Returns: An empty pointcloud if the conversion fails. If

Parameters

project_valid_depth_only is true, return point cloud, which doesn't have nan point. If the value is false, return point cloud, which has a point for each pixel, whereas invalid depth results in NaN points.

◆ CreateFromRGBDImage()

std::shared_ptr< PointCloud > open3d::geometry::PointCloud::CreateFromRGBDImage	(	const RGBDImage &	image,
		const camera::PinholeCameraIntrinsic &	intrinsic,
		const Eigen::Matrix4d &	extrinsic = `Eigen::Matrix4d::Identity()`,
		bool	project_valid_depth_only = `true`
	)

static

Factory function to create a pointcloud from an RGB-D image and a camera model.

Given depth value d at (u, v) image coordinate, the corresponding 3d point is: z = d / depth_scale
x = (u - cx) * z / fx
y = (v - cy) * z / fy

Parameters

image	The input image.
intrinsic	Intrinsic parameters of the camera.
extrinsic	Extrinsic parameters of the camera.

Returns: An empty pointcloud if the conversion fails. If

Parameters

project_valid_depth_only is true, return point cloud, which doesn't have nan point. If the value is false, return point cloud, which has a point for each pixel, whereas invalid depth results in NaN points.

◆ CreateFromVoxelGrid()

std::shared_ptr< PointCloud > open3d::geometry::PointCloud::CreateFromVoxelGrid ( const VoxelGrid & voxel_grid )

Function to create a PointCloud from a VoxelGrid.

It transforms the voxel centers to 3D points using the original point cloud coordinate (with respect to the center of the voxel grid).

Parameters

voxel_grid The input VoxelGrid.

◆ Crop() [1/2]

std::shared_ptr< PointCloud > open3d::geometry::PointCloud::Crop ( const AxisAlignedBoundingBox & bbox ) const

Function to crop pointcloud into output pointcloud.

All points with coordinates outside the bounding box bbox are clipped.

Parameters

bbox	AxisAlignedBoundingBox to crop points.

◆ Crop() [2/2]

std::shared_ptr< PointCloud > open3d::geometry::PointCloud::Crop ( const OrientedBoundingBox & bbox ) const

Function to crop pointcloud into output pointcloud.

All points with coordinates outside the bounding box bbox are clipped.

Parameters

bbox	OrientedBoundingBox to crop points.

◆ EstimateNormals()

void open3d::geometry::PointCloud::EstimateNormals	(	const KDTreeSearchParam &	search_param = `KDTreeSearchParamKNN()`,
		bool	fast_normal_computation = `true`
	)

Function to compute the normals of a point cloud.

Normals are oriented with respect to the input point cloud if normals exist.

Parameters

search_param	The KDTree search parameters for neighborhood search.
fast_normal_computation	If true, the normal estiamtion uses a non-iterative method to extract the eigenvector from the covariance matrix. This is faster, but is not as numerical stable.

◆ GetAxisAlignedBoundingBox()

AxisAlignedBoundingBox open3d::geometry::PointCloud::GetAxisAlignedBoundingBox ( ) const

overridevirtual

Returns an axis-aligned bounding box of the geometry.

Implements open3d::geometry::Geometry3D.

◆ GetCenter()

Eigen::Vector3d open3d::geometry::PointCloud::GetCenter ( ) const

overridevirtual

Returns the center of the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMaxBound()

Eigen::Vector3d open3d::geometry::PointCloud::GetMaxBound ( ) const

overridevirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

Eigen::Vector3d open3d::geometry::PointCloud::GetMinBound ( ) const

overridevirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::PointCloud::GetOrientedBoundingBox ( ) const

overridevirtual

Returns an oriented bounding box of the geometry.

Implements open3d::geometry::Geometry3D.

◆ HasColors()

bool open3d::geometry::PointCloud::HasColors ( ) const

inline

Returns true if the point cloud contains point colors.

◆ HasNormals()

bool open3d::geometry::PointCloud::HasNormals ( ) const

inline

Returns true if the point cloud contains point normals.

◆ HasPoints()

bool open3d::geometry::PointCloud::HasPoints ( ) const

inline

Returns 'true' if the point cloud contains points.

◆ HiddenPointRemoval()

std::tuple< std::shared_ptr< TriangleMesh >, std::vector< size_t > > open3d::geometry::PointCloud::HiddenPointRemoval	(	const Eigen::Vector3d &	camera_location,
		const double	radius
	)		const

This is an implementation of the Hidden Point Removal operator described in Katz et. al. 'Direct Visibility of Point Sets', 2007.

Additional information about the choice of radius for noisy point clouds can be found in Mehra et. al. 'Visibility of Noisy Point Cloud Data', 2010.

Parameters

camera_location	All points not visible from that location will be removed.
radius	The radius of the spherical projection.

◆ IsEmpty()

bool open3d::geometry::PointCloud::IsEmpty ( ) const

overridevirtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry3D.

◆ NormalizeNormals()

PointCloud& open3d::geometry::PointCloud::NormalizeNormals ( )

inline

Normalize point normals to length 1.

◆ operator+()

PointCloud open3d::geometry::PointCloud::operator+ ( const PointCloud & cloud ) const

◆ operator+=()

PointCloud & open3d::geometry::PointCloud::operator+= ( const PointCloud & cloud )

◆ OrientNormalsConsistentTangentPlane()

void open3d::geometry::PointCloud::OrientNormalsConsistentTangentPlane ( size_t k )

Function to consistently orient estimated normals based on consistent tangent planes as described in Hoppe et al., "Surface Reconstruction from Unorganized Points", 1992.

Parameters

k	k nearest neighbour for graph reconstruction for normal propagation.

◆ OrientNormalsToAlignWithDirection()

void open3d::geometry::PointCloud::OrientNormalsToAlignWithDirection ( const Eigen::Vector3d & orientation_reference = Eigen::Vector3d(0.0, 0.0, 1.0) )

Function to orient the normals of a point cloud.

Parameters

orientation_reference Normals are oriented with respect to orientation_reference.

◆ OrientNormalsTowardsCameraLocation()

void open3d::geometry::PointCloud::OrientNormalsTowardsCameraLocation ( const Eigen::Vector3d & camera_location = Eigen::Vector3d::Zero() )

Function to orient the normals of a point cloud.

Parameters

camera_location Normals are oriented with towards the camera_location.

◆ PaintUniformColor()

PointCloud& open3d::geometry::PointCloud::PaintUniformColor ( const Eigen::Vector3d & color )

inline

Assigns each point in the PointCloud the same color.

Parameters

color RGB colors of points.

◆ RemoveNonFinitePoints()

PointCloud & open3d::geometry::PointCloud::RemoveNonFinitePoints	(	bool	remove_nan = `true`,
		bool	remove_infinite = `true`
	)

Remove all points from the point cloud that have a nan entry, or infinite entries.

Also removes the corresponding normals and color entries.

Parameters

remove_nan	Remove NaN values from the PointCloud.
remove_infinite	Remove infinite values from the PointCloud.

◆ RemoveRadiusOutliers()

std::tuple< std::shared_ptr< PointCloud >, std::vector< size_t > > open3d::geometry::PointCloud::RemoveRadiusOutliers	(	size_t	nb_points,
		double	search_radius
	)		const

Function to remove points that have less than nb_points in a sphere of a given radius.

Parameters

nb_points	Number of points within the radius.
search_radius	Radius of the sphere.

◆ RemoveStatisticalOutliers()

std::tuple< std::shared_ptr< PointCloud >, std::vector< size_t > > open3d::geometry::PointCloud::RemoveStatisticalOutliers	(	size_t	nb_neighbors,
		double	std_ratio
	)		const

Function to remove points that are further away from their nb_neighbor neighbors in average.

Parameters

nb_neighbors	Number of neighbors around the target point.
std_ratio	Standard deviation ratio.

◆ Rotate()

PointCloud & open3d::geometry::PointCloud::Rotate	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply rotation to the geometry coordinates and normals. Given a rotation matrix $R$ , and center $c$ , a given point $p$ is transformed according to $R (p - c) + c$ .

Parameters

R	A 3x3 rotation matrix
center	Rotation center that is used for the rotation.

Implements open3d::geometry::Geometry3D.

◆ Scale()

PointCloud & open3d::geometry::PointCloud::Scale	(	const double	scale,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply scaling to the geometry coordinates. Given a scaling factor $s$ , and center $c$ , a given point $p$ is transformed according to $s (p - c) + c$ .

Parameters

scale	The scale parameter that is multiplied to the points/vertices of the geometry.
center	Scale center that is used to resize the geometry.

Implements open3d::geometry::Geometry3D.

◆ SegmentPlane()

std::tuple< Eigen::Vector4d, std::vector< size_t > > open3d::geometry::PointCloud::SegmentPlane	(	const double	distance_threshold = `0.01`,
		const int	ransac_n = `3`,
		const int	num_iterations = `100`
	)		const

Segment PointCloud plane using the RANSAC algorithm.

Parameters

distance_threshold	Max distance a point can be from the plane model, and still be considered an inlier.
ransac_n	Number of initial points to be considered inliers in each iteration.
num_iterations	Number of iterations.

Returns: Returns the plane model ax + by + cz + d = 0 and the indices of the plane inliers.

◆ SelectByIndex()

std::shared_ptr< PointCloud > open3d::geometry::PointCloud::SelectByIndex	(	const std::vector< size_t > &	indices,
		bool	invert = `false`
	)		const

Function to select points from input pointcloud into output pointcloud.

Points with indices in indices are selected.

Parameters

indices	Indices of points to be selected.
invert	Set to `True` to invert the selection of indices.

◆ Transform()

PointCloud & open3d::geometry::PointCloud::Transform ( const Eigen::Matrix4d & transformation )

overridevirtual

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

Implements open3d::geometry::Geometry3D.

◆ Translate()

PointCloud & open3d::geometry::PointCloud::Translate	(	const Eigen::Vector3d &	translation,
		bool	relative = `true`
	)

overridevirtual

Apply translation to the geometry coordinates.

Parameters

translation	A 3D vector to transform the geometry.
relative	If `true`, the `translation` is directly applied to the geometry. Otherwise, the geometry center is moved to the `translation`.

Implements open3d::geometry::Geometry3D.

◆ UniformDownSample()

std::shared_ptr< PointCloud > open3d::geometry::PointCloud::UniformDownSample ( size_t every_k_points ) const

Function to downsample input pointcloud into output pointcloud uniformly.

The sample is performed in the order of the points with the 0-th point always chosen, not at random.

Parameters

every_k_points Sample rate, the selected point indices are [0, k, 2k, …].

◆ VoxelDownSample()

std::shared_ptr< PointCloud > open3d::geometry::PointCloud::VoxelDownSample ( double voxel_size ) const

Function to downsample input pointcloud into output pointcloud with a voxel.

Normals and colors are averaged if they exist.

Parameters

voxel_size Defines the resolution of the voxel grid, smaller value leads to denser output point cloud.

◆ VoxelDownSampleAndTrace()

std::tuple< std::shared_ptr< PointCloud >, Eigen::MatrixXi, std::vector< std::vector< int > > > open3d::geometry::PointCloud::VoxelDownSampleAndTrace	(	double	voxel_size,
		const Eigen::Vector3d &	min_bound,
		const Eigen::Vector3d &	max_bound,
		bool	approximate_class = `false`
	)		const

Function to downsample using geometry.PointCloud.VoxelDownSample.

Also records point cloud index before downsampling.

Parameters

voxel_size	Voxel size to downsample into.
min_bound	Minimum coordinate of voxel boundaries
max_bound	Maximum coordinate of voxel boundaries
approximate_class	Whether to approximate.

Field Documentation

◆ colors_

std::vector<Eigen::Vector3d> open3d::geometry::PointCloud::colors_

RGB colors of points.

◆ normals_

std::vector<Eigen::Vector3d> open3d::geometry::PointCloud::normals_

Points normals.

◆ points_

std::vector<Eigen::Vector3d> open3d::geometry::PointCloud::points_

Points coordinates.

The documentation for this class was generated from the following files:

/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/PointCloud.h (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/EstimateNormals.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/PointCloud.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/PointCloudCluster.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/PointCloudFactory.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/PointCloudSegmentation.cpp (313315d (Wed Dec 23 23:39:47 2020 -0800))

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PointCloud() [1/2]

◆ PointCloud() [2/2]

◆ ~PointCloud()

Member Function Documentation

◆ Clear()

◆ ClusterDBSCAN()

◆ ComputeConvexHull()

◆ ComputeMahalanobisDistance()

◆ ComputeMeanAndCovariance()

◆ ComputeNearestNeighborDistance()

◆ ComputePointCloudDistance()

◆ CreateFromDepthImage()

◆ CreateFromRGBDImage()

◆ CreateFromVoxelGrid()

◆ Crop() [1/2]

◆ Crop() [2/2]

◆ EstimateNormals()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetOrientedBoundingBox()

◆ HasColors()

◆ HasNormals()

◆ HasPoints()

◆ HiddenPointRemoval()

◆ IsEmpty()

◆ NormalizeNormals()

◆ operator+()

◆ operator+=()

◆ OrientNormalsConsistentTangentPlane()

◆ OrientNormalsToAlignWithDirection()

◆ OrientNormalsTowardsCameraLocation()

◆ PaintUniformColor()

◆ RemoveNonFinitePoints()

◆ RemoveRadiusOutliers()

◆ RemoveStatisticalOutliers()

◆ Rotate()

◆ Scale()

◆ SegmentPlane()

◆ SelectByIndex()

◆ Transform()

◆ Translate()

◆ UniformDownSample()

◆ VoxelDownSample()

◆ VoxelDownSampleAndTrace()

Field Documentation

◆ colors_

◆ normals_

◆ points_