Geometry

open3d.geometry
class open3d.geometry.Geometry
Image = Type.Image
LineSet = Type.LineSet
PointCloud = Type.PointCloud
TriangleMesh = Type.TriangleMesh
class Type
Image = Type.Image
LineSet = Type.LineSet
PointCloud = Type.PointCloud
TriangleMesh = Type.TriangleMesh
Unspecified = Type.Unspecified
VoxelGrid = Type.VoxelGrid
Unspecified = Type.Unspecified
VoxelGrid = Type.VoxelGrid
clear(self: open3d.geometry.Geometry) → None
dimension(self: open3d.geometry.Geometry) → int
get_geometry_type(self: open3d.geometry.Geometry) → open3d::Geometry::GeometryType
is_empty(self: open3d.geometry.Geometry) → bool
class open3d.geometry.Geometry2D
get_max_bound(self: open3d.geometry.Geometry2D) → numpy.ndarray[float64[2, 1]]
get_min_bound(self: open3d.geometry.Geometry2D) → numpy.ndarray[float64[2, 1]]
class open3d.geometry.Geometry3D
get_max_bound(self: open3d.geometry.Geometry3D) → numpy.ndarray[float64[3, 1]]
get_min_bound(self: open3d.geometry.Geometry3D) → numpy.ndarray[float64[3, 1]]
transform(self: open3d.geometry.Geometry3D, arg0: numpy.ndarray[float64[4, 4]]) → None
class open3d.geometry.Image
class open3d.geometry.ImageFilterType
Gaussian3 = ImageFilterType.Gaussian3
Gaussian5 = ImageFilterType.Gaussian5
Gaussian7 = ImageFilterType.Gaussian7
Sobel3dx = ImageFilterType.Sobel3dx
Sobel3dy = ImageFilterType.Sobel3dy
class open3d.geometry.KDTreeFlann
search_hybrid_vector_3d(self: open3d.geometry.KDTreeFlann, query: numpy.ndarray[float64[3, 1]], radius: float, max_nn: int) → Tuple[int, open3d.IntVector, open3d.DoubleVector]
search_hybrid_vector_xd(self: open3d.geometry.KDTreeFlann, query: numpy.ndarray[float64[m, 1]], radius: float, max_nn: int) → Tuple[int, open3d.IntVector, open3d.DoubleVector]
search_knn_vector_3d(self: open3d.geometry.KDTreeFlann, query: numpy.ndarray[float64[3, 1]], knn: int) → Tuple[int, open3d.IntVector, open3d.DoubleVector]
search_knn_vector_xd(self: open3d.geometry.KDTreeFlann, query: numpy.ndarray[float64[m, 1]], knn: int) → Tuple[int, open3d.IntVector, open3d.DoubleVector]
search_radius_vector_3d(self: open3d.geometry.KDTreeFlann, query: numpy.ndarray[float64[3, 1]], radius: float) → Tuple[int, open3d.IntVector, open3d.DoubleVector]
search_radius_vector_xd(self: open3d.geometry.KDTreeFlann, query: numpy.ndarray[float64[m, 1]], radius: float) → Tuple[int, open3d.IntVector, open3d.DoubleVector]
search_vector_3d(self: open3d.geometry.KDTreeFlann, query: numpy.ndarray[float64[3, 1]], search_param: open3d.geometry.KDTreeSearchParam) → Tuple[int, open3d.IntVector, open3d.DoubleVector]
search_vector_xd(self: open3d.geometry.KDTreeFlann, query: numpy.ndarray[float64[m, 1]], search_param: open3d.geometry.KDTreeSearchParam) → Tuple[int, open3d.IntVector, open3d.DoubleVector]
set_feature(self: open3d.geometry.KDTreeFlann, feature: open3d::Feature) → bool
set_geometry(self: open3d.geometry.KDTreeFlann, geometry: open3d.geometry.Geometry) → bool
set_matrix_data(self: open3d.geometry.KDTreeFlann, data: numpy.ndarray[float64[m, n]]) → bool
class open3d.geometry.KDTreeSearchParam
HybridSearch = Type.HybridSearch
KNNSearch = Type.KNNSearch
RadiusSearch = Type.RadiusSearch
class Type
HybridSearch = Type.HybridSearch
KNNSearch = Type.KNNSearch
RadiusSearch = Type.RadiusSearch
get_search_type(self: open3d.geometry.KDTreeSearchParam) → open3d::KDTreeSearchParam::SearchType
class open3d.geometry.KDTreeSearchParamHybrid
max_nn
radius
class open3d.geometry.KDTreeSearchParamKNN
knn
class open3d.geometry.KDTreeSearchParamRadius
radius
class open3d.geometry.LineSet
colors
has_colors(self: open3d.geometry.LineSet) → bool
has_lines(self: open3d.geometry.LineSet) → bool
has_points(self: open3d.geometry.LineSet) → bool
lines
normalize_normals(self: open3d.geometry.LineSet, arg0: int) → Tuple[numpy.ndarray[float64[3, 1]], numpy.ndarray[float64[3, 1]]]
points
class open3d.geometry.PointCloud
colors
has_colors(self: open3d.geometry.PointCloud) → bool
has_normals(self: open3d.geometry.PointCloud) → bool
has_points(self: open3d.geometry.PointCloud) → bool
normalize_normals(self: open3d.geometry.PointCloud) → None
normals
paint_uniform_color(self: open3d.geometry.PointCloud, arg0: numpy.ndarray[float64[3, 1]]) → None
points
class open3d.geometry.RGBDImage
color
depth
class open3d.geometry.TriangleMesh
adjacency_list
compute_adjacency_list(self: open3d.geometry.TriangleMesh) → None

Function to compute adjacency list, call before adjacency list is needed

compute_triangle_normals(self: open3d.geometry.TriangleMesh, normalized: bool=True) → None

Function to compute triangle normals, usually called before rendering

compute_vertex_normals(self: open3d.geometry.TriangleMesh, normalized: bool=True) → None

Function to compute vertex normals, usually called before rendering

has_adjacency_list(self: open3d.geometry.TriangleMesh) → bool
has_triangle_normals(self: open3d.geometry.TriangleMesh) → bool
has_triangles(self: open3d.geometry.TriangleMesh) → bool
has_vertex_colors(self: open3d.geometry.TriangleMesh) → bool
has_vertex_normals(self: open3d.geometry.TriangleMesh) → bool
has_vertices(self: open3d.geometry.TriangleMesh) → bool
normalize_normals(self: open3d.geometry.TriangleMesh) → None
paint_uniform_color(self: open3d.geometry.TriangleMesh, arg0: numpy.ndarray[float64[3, 1]]) → None
purge(self: open3d.geometry.TriangleMesh) → None

Function to remove duplicated and non-manifold vertices/triangles

triangle_normals
triangles
vertex_colors
vertex_normals
vertices
class open3d.geometry.VoxelGrid
colors
has_colors(self: open3d.geometry.VoxelGrid) → bool
has_voxels(self: open3d.geometry.VoxelGrid) → bool
origin
voxel_size
voxels
open3d.geometry.compute_point_cloud_mahalanobis_distance(input: open3d.geometry.PointCloud) → open3d.DoubleVector

Function to compute the Mahalanobis distance for points in a point cloud

open3d.geometry.compute_point_cloud_mean_and_covariance(input: open3d.geometry.PointCloud) → Tuple[numpy.ndarray[float64[3, 1]], numpy.ndarray[float64[3, 3]]]

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

open3d.geometry.compute_point_cloud_nearest_neighbor_distance(input: open3d.geometry.PointCloud) → open3d.DoubleVector

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

open3d.geometry.compute_point_cloud_to_point_cloud_distance(source: open3d.geometry.PointCloud, target: open3d.geometry.PointCloud) → open3d.DoubleVector

Function to compute the ponit to point distances between point clouds

open3d.geometry.create_image_pyramid(image: open3d.geometry.Image, num_of_levels: int, with_gaussian_filter: bool) → List[open3d.geometry.Image]

Function to create ImagePyramid

open3d.geometry.create_mesh_arrow(cylinder_radius: float=1.0, cone_radius: float=1.5, cylinder_height: float=5.0, cone_height: float=4.0, resolution: int=20, cylinder_split: int=4, cone_split: int=1) → open3d.geometry.TriangleMesh

Factory function to create an arrow mesh

open3d.geometry.create_mesh_box(width: float=1.0, height: float=1.0, depth: float=1.0) → open3d.geometry.TriangleMesh

Factory function to create a box

open3d.geometry.create_mesh_cone(radius: float=1.0, height: float=2.0, resolution: int=20, split: int=1) → open3d.geometry.TriangleMesh

Factory function to create a cone mesh

open3d.geometry.create_mesh_coordinate_frame(size: float=1.0, origin: numpy.ndarray[float64[3, 1]]=array([0., 0., 0.])) → open3d.geometry.TriangleMesh

Factory function to create a coordinate frame mesh

open3d.geometry.create_mesh_cylinder(radius: float=1.0, height: float=2.0, resolution: int=20, split: int=4) → open3d.geometry.TriangleMesh

Factory function to create a cylinder mesh

open3d.geometry.create_mesh_sphere(radius: float=1.0, resolution: int=20) → open3d.geometry.TriangleMesh

Factory function to create a sphere mesh

open3d.geometry.create_point_cloud_from_depth_image()
create_point_cloud_from_depth_image(depth: open3d.geometry.Image, intrinsic: open3d.camera.PinholeCameraIntrinsic, extrinsic: numpy.ndarray[float64[4, 4]]=array([[1., 0., 0., 0.],
[0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), depth_scale: float=1000.0, depth_trunc: float=1000.0, stride: int=1) -> open3d.geometry.PointCloud

Factory function to create a pointcloud from a depth image and a camera. 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
open3d.geometry.create_point_cloud_from_rgbd_image()
create_point_cloud_from_rgbd_image(image: open3d.geometry.RGBDImage, intrinsic: open3d.camera.PinholeCameraIntrinsic, extrinsic: numpy.ndarray[float64[4, 4]]=array([[1., 0., 0., 0.],
[0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]])) -> open3d.geometry.PointCloud

Factory function to create a pointcloud from an RGB-D image and a camera. 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
open3d.geometry.create_rgbd_image_from_color_and_depth(color: open3d.geometry.Image, depth: open3d.geometry.Image, depth_scale: float=1000.0, depth_trunc: float=3.0, convert_rgb_to_intensity: bool=True) → open3d.geometry.RGBDImage

Function to make RGBDImage

open3d.geometry.create_rgbd_image_from_nyu_format(color: open3d.geometry.Image, depth: open3d.geometry.Image, convert_rgb_to_intensity: bool=True) → open3d.geometry.RGBDImage

Function to make RGBDImage (for NYU format)

open3d.geometry.create_rgbd_image_from_sun_format(color: open3d.geometry.Image, depth: open3d.geometry.Image, convert_rgb_to_intensity: bool=True) → open3d.geometry.RGBDImage

Function to make RGBDImage (for SUN format)

open3d.geometry.create_rgbd_image_from_tum_format(color: open3d.geometry.Image, depth: open3d.geometry.Image, convert_rgb_to_intensity: bool=True) → open3d.geometry.RGBDImage

Function to make RGBDImage (for TUM format)

open3d.geometry.create_surface_voxel_grid_from_point_cloud(point_cloud: open3d.geometry.PointCloud, voxel_size: float) → open3d.geometry.VoxelGrid

Function to make voxels from scanned point cloud

open3d.geometry.crop_point_cloud(input: open3d.geometry.PointCloud, min_bound: numpy.ndarray[float64[3, 1]], max_bound: numpy.ndarray[float64[3, 1]]) → open3d.geometry.PointCloud

Function to crop input pointcloud into output pointcloud

open3d.geometry.crop_triangle_mesh(input: open3d.geometry.TriangleMesh, min_bound: numpy.ndarray[float64[3, 1]], max_bound: numpy.ndarray[float64[3, 1]]) → open3d.geometry.TriangleMesh

Function to crop input triangle mesh into output triangle mesh

open3d.geometry.estimate_normals(cloud: open3d.geometry.PointCloud, search_param: open3d.geometry.KDTreeSearchParam=KDTreeSearchParamKNN with knn = 30) → bool

Function to compute the normals of a point cloud

open3d.geometry.filter_image(image: open3d.geometry.Image, filter_type: open3d.geometry.ImageFilterType) → open3d.geometry.Image

Function to filter Image

open3d.geometry.filter_image_pyramid(image_pyramid: List[open3d.geometry.Image], filter_type: open3d.geometry.ImageFilterType) → List[open3d.geometry.Image]

Function to filter ImagePyramid

open3d.geometry.orient_normals_to_align_with_direction(cloud: open3d.geometry.PointCloud, orientation_reference: numpy.ndarray[float64[3, 1]]=array([0., 0., 1.])) → bool

Function to orient the normals of a point cloud

open3d.geometry.orient_normals_towards_camera_location(cloud: open3d.geometry.PointCloud, camera_location: numpy.ndarray[float64[3, 1]]=array([0., 0., 0.])) → bool

Function to orient the normals of a point cloud

open3d.geometry.radius_outlier_removal(input: open3d.geometry.PointCloud, nb_points: int, radius: float) → Tuple[open3d.geometry.PointCloud, List[int]]

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

open3d.geometry.read_image(filename: str) → open3d.geometry.Image

Function to read Image from file

open3d.geometry.read_line_set(filename: str, format: str='auto') → open3d.geometry.LineSet

Function to read LineSet from file

open3d.geometry.read_point_cloud(filename: str, format: str='auto') → open3d.geometry.PointCloud

Function to read PointCloud from file

open3d.geometry.read_triangle_mesh(filename: str) → open3d.geometry.TriangleMesh

Function to read TriangleMesh from file

open3d.geometry.read_voxel_grid(filename: str, format: str='auto') → open3d.geometry.VoxelGrid

Function to read VoxelGrid from file

open3d.geometry.select_down_sample(*args, **kwargs)

Overloaded function.

  1. select_down_sample(input: open3d.geometry.PointCloud, indices: List[int], invert: bool=False) -> open3d.geometry.PointCloud

Function to select points from input pointcloud into output pointcloud

  1. select_down_sample(input: open3d.geometry.TriangleMesh, indices: List[int]) -> open3d.geometry.TriangleMesh

Function to select mesh from input triangle mesh into output triangle mesh

open3d.geometry.statistical_outlier_removal(input: open3d.geometry.PointCloud, nb_neighbors: int, std_ratio: float) → Tuple[open3d.geometry.PointCloud, List[int]]

Function to remove points that are further away from their neighbours in average

open3d.geometry.uniform_down_sample(input: open3d.geometry.PointCloud, every_k_points: int) → open3d.geometry.PointCloud

Function to downsample input pointcloud into output pointcloud uniformly

open3d.geometry.voxel_down_sample(input: open3d.geometry.PointCloud, voxel_size: float) → open3d.geometry.PointCloud

Function to downsample input pointcloud into output pointcloud with a voxel

open3d.geometry.voxel_down_sample_and_trace(input: open3d.geometry.PointCloud, voxel_size: float, min_bound: numpy.ndarray[float64[3, 1]], max_bound: numpy.ndarray[float64[3, 1]], approximate_class: bool=False) → Tuple[open3d.geometry.PointCloud, numpy.ndarray[int32[m, n]]]

Function to downsample using VoxelDownSample also records point cloud index before downsampling

open3d.geometry.write_image(filename: str, image: open3d.geometry.Image, quality: int=90) → bool

Function to write Image to file

open3d.geometry.write_line_set(filename: str, line_set: open3d.geometry.LineSet, write_ascii: bool=False, compressed: bool=False) → bool

Function to write LineSet to file

open3d.geometry.write_point_cloud(filename: str, pointcloud: open3d.geometry.PointCloud, write_ascii: bool=False, compressed: bool=False) → bool

Function to write PointCloud to file

open3d.geometry.write_triangle_mesh(filename: str, mesh: open3d.geometry.TriangleMesh, write_ascii: bool=False, compressed: bool=False) → bool

Function to write TriangleMesh to file

open3d.geometry.write_voxel_grid(filename: str, voxel_grid: open3d.geometry.VoxelGrid, write_ascii: bool=False, compressed: bool=False) → bool

Function to write VoxelGrid to file