Geometry The base geometry class.
Geometry2D The base geometry class for 2D geometries.
Geometry3D The base geometry class for 3D geometries.
HalfEdge HalfEdge class contains vertex, triangle info about a half edge, as well as relations of next and twin half edge.
HalfEdgeTriangleMesh HalfEdgeTriangleMesh inherits TriangleMesh class with the addition of HalfEdge data structure for each half edge in the mesh as well as related functions.
Image The image class stores image with customizable width, height, num of channels and bytes per channel.
ImageFilterType Enum class for Image filter types.
KDTreeFlann KDTree with FLANN for nearest neighbor search.
KDTreeSearchParam Base class for KDTree search parameters.
KDTreeSearchParamHybrid KDTree search parameters for hybrid KNN and radius search.
KDTreeSearchParamKNN KDTree search parameters for pure KNN search.
KDTreeSearchParamRadius KDTree search parameters for pure radius search.
LineSet LineSet define a sets of lines in 3D.
PointCloud PointCloud class.
RGBDImage RGBDImage is for a pair of registered color and depth images, viewed from the same view, of the same resolution.
TriangleMesh TriangleMesh class.
VoxelGrid VoxelGrid is a collection of voxels which are aligned in grid.


compute_point_cloud_mahalanobis_distance(input) Function to compute the Mahalanobis distance for points in a point cloud.
compute_point_cloud_mean_and_covariance(input) Function to compute the mean and covariance matrix of a point cloud.
compute_point_cloud_nearest_neighbor_distance(input) Function to compute the distance from a point to its nearest neighbor in the point cloud
compute_point_cloud_to_point_cloud_distance(…) For each point in the source point cloud, compute the distance to the target point cloud.
create_half_edge_mesh_from_mesh(mesh) Convert HalfEdgeTriangleMesh from TriangleMesh.
create_image_pyramid(image, num_of_levels, …) Function to create ImagePyramid
create_mesh_arrow([cylinder_radius, …]) Factory function to create an arrow mesh
create_mesh_box([width, height, depth]) Factory function to create a box.
create_mesh_cone([radius, height, …]) Factory function to create a cone mesh
create_mesh_coordinate_frame([size, origin]) Factory function to create a coordinate frame mesh.
create_mesh_cylinder([radius, height, …]) Factory function to create a cylinder mesh
create_mesh_sphere([radius, resolution]) Factory function to create a sphere mesh centered at (0, 0, 0).
create_point_cloud_from_depth_image(depth, …) Factory function to create a pointcloud from a depth image and a camera.
create_point_cloud_from_rgbd_image(image, …) Factory function to create a pointcloud from an RGB-D image and a camera.
create_rgbd_image_from_color_and_depth(…) Function to make RGBDImage from color and depth image
create_rgbd_image_from_nyu_format(color, depth) Function to make RGBDImage (for NYU format)
create_rgbd_image_from_redwood_format(color, …) Function to make RGBDImage (for Redwood format)
create_rgbd_image_from_sun_format(color, depth) Function to make RGBDImage (for SUN format)
create_rgbd_image_from_tum_format(color, depth) Function to make RGBDImage (for TUM format)
create_surface_voxel_grid_from_point_cloud(…) Function to make voxels from scanned point cloud
crop_point_cloud(input, min_bound, max_bound) Function to crop input pointcloud into output pointcloud
crop_triangle_mesh(input, min_bound, max_bound) Function to crop input triangle mesh into output triangle mesh
estimate_normals(cloud[, search_param]) Function to compute the normals of a point cloud.
filter_image(image, filter_type) Function to filter Image
filter_image_pyramid(image_pyramid, filter_type) Function to filter ImagePyramid
orient_normals_to_align_with_direction(cloud) Function to orient the normals of a point cloud
orient_normals_towards_camera_location(cloud) Function to orient the normals of a point cloud
radius_outlier_removal(input, nb_points, radius) Function to remove points that have less than nb_points in a given sphere of a given radius
select_down_sample(*args, **kwargs) Overloaded function.
statistical_outlier_removal(input, …) Function to remove points that are further away from their neighbors in average
uniform_down_sample(input, every_k_points) Function to downsample input pointcloud into output pointcloud uniformly.
voxel_down_sample(input, voxel_size) Function to downsample input pointcloud into output pointcloud with a voxel
voxel_down_sample_and_trace(input, …[, …]) Function to downsample using geometry.VoxelDownSample also records point cloud index before downsampling