A point cloud contains a list of 3D points. More...

#include <PointCloud.h>

Inheritance diagram for open3d::t::geometry::PointCloud:

Public Member Functions
	PointCloud (const core::Device &device=core::Device("CPU:0"))

	PointCloud (const core::Tensor &points)

	PointCloud (const std::unordered_map< std::string, core::Tensor > &map_keys_to_tensors)

virtual	~PointCloud () override

std::string	ToString () const
	Text description. More...

const TensorMap &	GetPointAttr () const
	Getter for point_attr_ TensorMap. Used in Pybind. More...

core::Tensor &	GetPointAttr (const std::string &key)

core::Tensor &	GetPointPositions ()
	Get the value of the "positions" attribute. Convenience function. More...

core::Tensor &	GetPointColors ()
	Get the value of the "colors" attribute. Convenience function. More...

core::Tensor &	GetPointNormals ()
	Get the value of the "normals" attribute. Convenience function. More...

const core::Tensor &	GetPointAttr (const std::string &key) const

const core::Tensor &	GetPointPositions () const
	Get the value of the "positions" attribute. Convenience function. More...

const core::Tensor &	GetPointColors () const
	Get the value of the "colors" attribute. Convenience function. More...

const core::Tensor &	GetPointNormals () const
	Get the value of the "normals" attribute. Convenience function. More...

void	SetPointAttr (const std::string &key, const core::Tensor &value)

void	SetPointPositions (const core::Tensor &value)
	Set the value of the "positions" attribute. Convenience function. More...

void	SetPointColors (const core::Tensor &value)
	Set the value of the "colors" attribute. Convenience function. More...

void	SetPointNormals (const core::Tensor &value)
	Set the value of the "normals" attribute. Convenience function. More...

bool	HasPointAttr (const std::string &key) const

void	RemovePointAttr (const std::string &key)

bool	HasPointPositions () const

bool	HasPointColors () const

bool	HasPointNormals () const

PointCloud	To (const core::Device &device, bool copy=false) const

PointCloud	Clone () const
	Returns copy of the point cloud on the same device. More...

PointCloud &	Clear () override
	Clear all data in the point cloud. More...

bool	IsEmpty () const override
	Returns !HasPointPositions(). More...

core::Tensor	GetMinBound () const
	Returns the min bound for point coordinates. More...

core::Tensor	GetMaxBound () const
	Returns the max bound for point coordinates. More...

core::Tensor	GetCenter () const
	Returns the center for point coordinates. More...

PointCloud	Append (const PointCloud &other) const

PointCloud	operator+ (const PointCloud &other) const

PointCloud &	Transform (const core::Tensor &transformation)
	Transforms the PointPositions and PointNormals (if exist) of the PointCloud. More...

PointCloud &	Translate (const core::Tensor &translation, bool relative=true)
	Translates the PointPositions of the PointCloud. More...

PointCloud &	Scale (double scale, const core::Tensor &center)
	Scales the PointPositions of the PointCloud. More...

PointCloud &	Rotate (const core::Tensor &R, const core::Tensor &center)
	Rotates the PointPositions and PointNormals (if exists). More...

PointCloud	VoxelDownSample (double voxel_size, const core::HashBackendType &backend=core::HashBackendType::Default) const
	Downsamples a point cloud with a specified voxel size. More...

core::Device	GetDevice () const
	Returns the device attribute of this PointCloud. More...

void	EstimateNormals (const int max_nn=30, const utility::optional< double > radius=utility::nullopt)
	Function to estimate point normals. If the point cloud normals exist, the estimated normals are oriented with respect to the same. It uses KNN search if only max_nn parameter is provided, and HybridSearch if radius parameter is also provided. More...

void	EstimateColorGradients (const int max_nn=30, const utility::optional< double > radius=utility::nullopt)
	Function to compute point color gradients. If radius is provided, then HybridSearch is used, otherwise KNN-Search is used. Reference: Park, Q.-Y. Zhou, and V. Koltun, Colored Point Cloud Registration Revisited, ICCV, 2017. More...

open3d::geometry::PointCloud	ToLegacy () const
	Convert to a legacy Open3D PointCloud. More...

geometry::Image	ProjectToDepthImage (int width, int height, const core::Tensor &intrinsics, const core::Tensor &extrinsics=core::Tensor::Eye(4, core::Float32, core::Device("CPU:0")), float depth_scale=1000.0f, float depth_max=3.0f)
	Project a point cloud to a depth image. More...

geometry::RGBDImage	ProjectToRGBDImage (int width, int height, const core::Tensor &intrinsics, const core::Tensor &extrinsics=core::Tensor::Eye(4, core::Float32, core::Device("CPU:0")), float depth_scale=1000.0f, float depth_max=3.0f)
	Project a point cloud to an RGBD image. More...

Public Member Functions inherited from open3d::t::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)

Public Member Functions inherited from open3d::t::geometry::DrawableGeometry
	DrawableGeometry ()

	~DrawableGeometry ()

bool	HasMaterial () const
	Check if a material has been applied to this Geometry with SetMaterial. More...

visualization::rendering::Material &	GetMaterial ()
	Get material associated with this Geometry. More...

const visualization::rendering::Material &	GetMaterial () const
	Get const reference to material associated with this Geometry. More...

void	SetMaterial (const visualization::rendering::Material &material)
	Set the material properties associate with this Geometry. More...

Static Public Member Functions
static PointCloud	CreateFromDepthImage (const Image &depth, const core::Tensor &intrinsics, const core::Tensor &extrinsics=core::Tensor::Eye(4, core::Float32, core::Device("CPU:0")), float depth_scale=1000.0f, float depth_max=3.0f, int stride=1, bool with_normals=false)
	Factory function to create a point cloud from a depth image and a camera model. More...

static PointCloud	CreateFromRGBDImage (const RGBDImage &rgbd_image, const core::Tensor &intrinsics, const core::Tensor &extrinsics=core::Tensor::Eye(4, core::Float32, core::Device("CPU:0")), float depth_scale=1000.0f, float depth_max=3.0f, int stride=1, bool with_normals=false)
	Factory function to create a point cloud from an RGB-D image and a camera model. More...

static PointCloud	FromLegacy (const open3d::geometry::PointCloud &pcd_legacy, core::Dtype dtype=core::Float32, const core::Device &device=core::Device("CPU:0"))
	Create a PointCloud from a legacy Open3D PointCloud. More...

Protected Attributes
core::Device	device_ = core::Device("CPU:0")

TensorMap	point_attr_

Additional Inherited Members
Public Types inherited from open3d::t::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::t::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

A point cloud contains a list of 3D points.

The point cloud class stores the attribute data in key-value maps, where the key is a string representing the attribute name and the value is a Tensor containing the attribute data. In most cases, the length of an attribute should be equal to the length of the point cloud's "positions".

Default attribute: "positions".
- Usage
  - PointCloud::GetPointPositions()
  - PointCloud::SetPointPositions(const Tensor& positions)
  - PointCloud::HasPointPositions()
- Created by default, required for all pointclouds.
- Value tensor must have shape {N, 3}.
- The device of "positions" determines the device of the point cloud.
Common attributes: "normals", "colors".
- Usage
  - PointCloud::GetPointNormals()
  - PointCloud::SetPointNormals(const Tensor& normals)
  - PointCloud::HasPointNormals()
  - PointCloud::GetPointColors()
  - PointCloud::SetPointColors(const Tensor& colors)
  - PointCloud::HasPointColors()
- Not created by default.
- Value tensor must have shape {N, 3}.
- Value tensor must be on the same device as the point cloud.
- Value tensor can have any dtype.
Custom attributes, e.g., "labels", "intensities".
- Usage
  - PointCloud::GetPointAttr(const std::string& key)
  - PointCloud::SetPointAttr(const std::string& key, const Tensor& value)
  - PointCloud::HasPointAttr(const std::string& key)
- Not created by default. Users can add their own custom attributes.
- Value tensor must be on the same device as the point cloud.
- Value tensor can have any dtype.

PointCloud::GetPointAttr(), PointCloud::SetPointAttr(), PointCloud::HasPointAttr() also work for default attribute "position" and common attributes "normals" and "colors", e.g.,

PointCloud::GetPointPositions() is the same as PointCloud::GetPointAttr("positions")
PointCloud::HasPointNormals() is the same as PointCloud::HasPointAttr("normals")

Constructor & Destructor Documentation

◆ PointCloud() [1/3]

open3d::t::geometry::PointCloud::PointCloud ( const core::Device & device = core::Device("CPU:0") )

Construct an empty point cloud on the provided device.

Parameters

device The device on which to initialize the point cloud (default: 'CPU:0').

◆ PointCloud() [2/3]

open3d::t::geometry::PointCloud::PointCloud ( const core::Tensor & points )

Construct a point cloud from points.

The input tensor will be directly used as the underlying storage of the point cloud (no memory copy).

Parameters

points A tensor with element shape {3}.

◆ PointCloud() [3/3]

open3d::t::geometry::PointCloud::PointCloud ( const std::unordered_map< std::string, core::Tensor > & map_keys_to_tensors )

Construct from points and other attributes of the points.

Parameters

map_keys_to_tensors A map of string to Tensor containing points and their attributes. point_dict must contain at least the "positions" key.

◆ ~PointCloud()

virtual open3d::t::geometry::PointCloud::~PointCloud ( )

inlineoverridevirtual

Member Function Documentation

◆ Append()

PointCloud open3d::t::geometry::PointCloud::Append ( const PointCloud & other ) const

Append a point cloud and returns the resulting point cloud.

The point cloud being appended, must have all the attributes present in the point cloud it is being appended to, with same dtype, device and same shape other than the first dimension / length.

◆ Clear()

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

inlineoverridevirtual

Clear all data in the point cloud.

Implements open3d::t::geometry::Geometry.

◆ Clone()

PointCloud open3d::t::geometry::PointCloud::Clone ( ) const

Returns copy of the point cloud on the same device.

◆ CreateFromDepthImage()

PointCloud open3d::t::geometry::PointCloud::CreateFromDepthImage	(	const Image &	depth,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics = `core::Tensor::Eye(4, core::Float32, core::Device("CPU:0"))`,
		float	depth_scale = `1000.0f`,
		float	depth_max = `3.0f`,
		int	stride = `1`,
		bool	with_normals = `false`
	)

static

Factory function to create a point cloud 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 should be a uint16_t or float image.
intrinsics	Intrinsic parameters of the camera.
extrinsics	Extrinsic parameters of the camera.
depth_scale	The depth is scaled by 1 / `depth_scale`.
depth_max	Truncated at `depth_max` distance.
stride	Sampling factor to support coarse point cloud extraction. Unless `with_normals=true`, there is no low pass filtering, so aliasing is possible for `stride>1`.
with_normals	Also compute normals for the point cloud. If True, the point cloud will only contain points with valid normals. If normals are requested, the depth map is first filtered to ensure smooth normals.

Returns: Created point cloud with the 'points' property set. Thus is empty if the conversion fails.

◆ CreateFromRGBDImage()

PointCloud open3d::t::geometry::PointCloud::CreateFromRGBDImage	(	const RGBDImage &	rgbd_image,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics = `core::Tensor::Eye(4, core::Float32, core::Device("CPU:0"))`,
		float	depth_scale = `1000.0f`,
		float	depth_max = `3.0f`,
		int	stride = `1`,
		bool	with_normals = `false`
	)

static

Factory function to create a point cloud 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

rgbd_image	The input RGBD image should have a uint16_t or float depth image and RGB image with any DType and the same size.
intrinsics	Intrinsic parameters of the camera.
extrinsics	Extrinsic parameters of the camera.
depth_scale	The depth is scaled by 1 / `depth_scale`.
depth_max	Truncated at `depth_max` distance.
stride	Sampling factor to support coarse point cloud extraction. Unless `with_normals=true`, there is no low pass filtering, so aliasing is possible for `stride>1`.
with_normals	Also compute normals for the point cloud. If True, the point cloud will only contain points with valid normals. If normals are requested, the depth map is first filtered to ensure smooth normals.

Returns: Created point cloud with the 'points' and 'colors' properties set. This is empty if the conversion fails.

◆ EstimateColorGradients()

void open3d::t::geometry::PointCloud::EstimateColorGradients	(	const int	max_nn = `30`,
		const utility::optional< double >	radius = `utility::nullopt`
	)

Function to compute point color gradients. If radius is provided, then HybridSearch is used, otherwise KNN-Search is used. Reference: Park, Q.-Y. Zhou, and V. Koltun, Colored Point Cloud Registration Revisited, ICCV, 2017.

Parameters

max_nn	NeighbourSearch max neighbours parameter [Default = 30].
radius	[optional] NeighbourSearch radius parameter to use HybridSearch. [Recommended ~1.4x voxel size].

◆ EstimateNormals()

void open3d::t::geometry::PointCloud::EstimateNormals	(	const int	max_nn = `30`,
		const utility::optional< double >	radius = `utility::nullopt`
	)

Function to estimate point normals. If the point cloud normals exist, the estimated normals are oriented with respect to the same. It uses KNN search if only max_nn parameter is provided, and HybridSearch if radius parameter is also provided.

Parameters

max_nn	NeighbourSearch max neighbours parameter [Default = 30].
radius	[optional] NeighbourSearch radius parameter to use HybridSearch. [Recommended ~1.4x voxel size].

◆ FromLegacy()

PointCloud open3d::t::geometry::PointCloud::FromLegacy	(	const open3d::geometry::PointCloud &	pcd_legacy,
		core::Dtype	dtype = `core::Float32`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

static

Create a PointCloud from a legacy Open3D PointCloud.

◆ GetCenter()

core::Tensor open3d::t::geometry::PointCloud::GetCenter ( ) const

Returns the center for point coordinates.

◆ GetDevice()

core::Device open3d::t::geometry::PointCloud::GetDevice ( ) const

inline

Returns the device attribute of this PointCloud.

◆ GetMaxBound()

core::Tensor open3d::t::geometry::PointCloud::GetMaxBound ( ) const

Returns the max bound for point coordinates.

◆ GetMinBound()

core::Tensor open3d::t::geometry::PointCloud::GetMinBound ( ) const

Returns the min bound for point coordinates.

◆ GetPointAttr() [1/3]

const TensorMap& open3d::t::geometry::PointCloud::GetPointAttr ( ) const

inline

Getter for point_attr_ TensorMap. Used in Pybind.

◆ GetPointAttr() [2/3]

core::Tensor& open3d::t::geometry::PointCloud::GetPointAttr ( const std::string & key )

inline

Get attributes. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

◆ GetPointAttr() [3/3]

const core::Tensor& open3d::t::geometry::PointCloud::GetPointAttr ( const std::string & key ) const

inline

Get attributes. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

◆ GetPointColors() [1/2]

core::Tensor& open3d::t::geometry::PointCloud::GetPointColors ( )

inline

Get the value of the "colors" attribute. Convenience function.

◆ GetPointColors() [2/2]

const core::Tensor& open3d::t::geometry::PointCloud::GetPointColors ( ) const

inline

Get the value of the "colors" attribute. Convenience function.

◆ GetPointNormals() [1/2]

core::Tensor& open3d::t::geometry::PointCloud::GetPointNormals ( )

inline

Get the value of the "normals" attribute. Convenience function.

◆ GetPointNormals() [2/2]

const core::Tensor& open3d::t::geometry::PointCloud::GetPointNormals ( ) const

inline

Get the value of the "normals" attribute. Convenience function.

◆ GetPointPositions() [1/2]

core::Tensor& open3d::t::geometry::PointCloud::GetPointPositions ( )

inline

Get the value of the "positions" attribute. Convenience function.

◆ GetPointPositions() [2/2]

const core::Tensor& open3d::t::geometry::PointCloud::GetPointPositions ( ) const

inline

Get the value of the "positions" attribute. Convenience function.

◆ HasPointAttr()

bool open3d::t::geometry::PointCloud::HasPointAttr ( const std::string & key ) const

inline

Returns true if all of the followings are true: 1) attribute key exist 2) attribute's length as points' length 3) attribute's length > 0

◆ HasPointColors()

bool open3d::t::geometry::PointCloud::HasPointColors ( ) const

inline

Returns true if all of the followings are true: 1) attribute "colors" exist 2) attribute "colors"'s length as points' length 3) attribute "colors"'s length > 0 This is a convenience function.

◆ HasPointNormals()

bool open3d::t::geometry::PointCloud::HasPointNormals ( ) const

inline

Returns true if all of the followings are true: 1) attribute "normals" exist 2) attribute "normals"'s length as points' length 3) attribute "normals"'s length > 0 This is a convenience function.

◆ HasPointPositions()

bool open3d::t::geometry::PointCloud::HasPointPositions ( ) const

inline

Check if the "positions" attribute's value has length > 0. This is a convenience function.

◆ IsEmpty()

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

inlineoverridevirtual

Returns !HasPointPositions().

Implements open3d::t::geometry::Geometry.

◆ operator+()

PointCloud open3d::t::geometry::PointCloud::operator+ ( const PointCloud & other ) const

inline

operator+ for t::PointCloud appends the compatible attributes to the point cloud.

◆ ProjectToDepthImage()

geometry::Image open3d::t::geometry::PointCloud::ProjectToDepthImage	(	int	width,
		int	height,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics = `core::Tensor::Eye(4, core::Float32, core::Device("CPU:0"))`,
		float	depth_scale = `1000.0f`,
		float	depth_max = `3.0f`
	)

Project a point cloud to a depth image.

◆ ProjectToRGBDImage()

geometry::RGBDImage open3d::t::geometry::PointCloud::ProjectToRGBDImage	(	int	width,
		int	height,
		const core::Tensor &	intrinsics,
		const core::Tensor &	extrinsics = `core::Tensor::Eye(4, core::Float32, core::Device("CPU:0"))`,
		float	depth_scale = `1000.0f`,
		float	depth_max = `3.0f`
	)

Project a point cloud to an RGBD image.

◆ RemovePointAttr()

void open3d::t::geometry::PointCloud::RemovePointAttr ( const std::string & key )

inline

Removes point attribute by key value. Primary attribute "positions" cannot be removed. Throws warning if attribute key does not exists.

Parameters

key	Attribute name.

◆ Rotate()

PointCloud & open3d::t::geometry::PointCloud::Rotate	(	const core::Tensor &	R,
		const core::Tensor &	center
	)

Rotates the PointPositions and PointNormals (if exists).

Parameters

R	Rotation [Tensor of dim {3,3}]. Should be on the same device as the PointCloud
center	Center [Tensor of dim {3}] about which the PointCloud is to be scaled. Should be on the same device as the PointCloud

Returns: Rotated point cloud

◆ Scale()

PointCloud & open3d::t::geometry::PointCloud::Scale	(	double	scale,
		const core::Tensor &	center
	)

Scales the PointPositions of the PointCloud.

Parameters

scale	Scale [double] of dimension
center	Center [Tensor of dim {3}] about which the PointCloud is to be scaled. Should be on the same device as the PointCloud

Returns: Scaled point cloud

◆ SetPointAttr()

void open3d::t::geometry::PointCloud::SetPointAttr	(	const std::string &	key,
		const core::Tensor &	value
	)

inline

Set attributes. If the attribute key already exists, its value will be overwritten, otherwise, the new key will be created.

Parameters

key	Attribute name.
value	A tensor.

◆ SetPointColors()

void open3d::t::geometry::PointCloud::SetPointColors ( const core::Tensor & value )

inline

Set the value of the "colors" attribute. Convenience function.

◆ SetPointNormals()

void open3d::t::geometry::PointCloud::SetPointNormals ( const core::Tensor & value )

inline

Set the value of the "normals" attribute. Convenience function.

◆ SetPointPositions()

void open3d::t::geometry::PointCloud::SetPointPositions ( const core::Tensor & value )

inline

Set the value of the "positions" attribute. Convenience function.

◆ To()

PointCloud open3d::t::geometry::PointCloud::To	(	const core::Device &	device,
		bool	copy = `false`
	)		const

Transfer the point cloud to a specified device.

Parameters

device	The targeted device to convert to.
copy	If true, a new point cloud is always created; if false, the copy is avoided when the original point cloud is already on the targeted device.

◆ ToLegacy()

open3d::geometry::PointCloud open3d::t::geometry::PointCloud::ToLegacy ( ) const

Convert to a legacy Open3D PointCloud.

◆ ToString()

std::string open3d::t::geometry::PointCloud::ToString ( ) const

Text description.

◆ Transform()

PointCloud & open3d::t::geometry::PointCloud::Transform ( const core::Tensor & transformation )

Transforms the PointPositions and PointNormals (if exist) of the PointCloud.

Transformation matrix is a 4x4 matrix. T (4x4) = [[ R(3x3) t(3x1) ], [ O(1x3) s(1x1) ]] (s = 1 for Transformation without scaling)

It applies the following general transform to each positions and normals. |x'| | R(0,0) R(0,1) R(0,2) t(0)| |x| |y'| = | R(1,0) R(1,1) R(1,2) t(1)| @ |y| |z'| | R(2,0) R(2,1) R(2,2) t(2)| |z| |w'| | O(0,0) O(0,1) O(0,2) s | |1|

[x, y, z] = [x', y', z'] / w'

Parameters

transformation Transformation [Tensor of dim {4,4}].

Returns: Transformed point cloud

◆ Translate()

PointCloud & open3d::t::geometry::PointCloud::Translate	(	const core::Tensor &	translation,
		bool	relative = `true`
	)

Translates the PointPositions of the PointCloud.

Parameters

translation	translation tensor of dimension {3} Should be on the same device as the PointCloud
relative	if true (default): translates relative to Center

Returns: Translated point cloud

◆ VoxelDownSample()

PointCloud open3d::t::geometry::PointCloud::VoxelDownSample	(	double	voxel_size,
		const core::HashBackendType &	backend = `core::HashBackendType::Default`
	)		const

Downsamples a point cloud with a specified voxel size.

Parameters

voxel_size Voxel size. A positive number.

Field Documentation

◆ device_

core::Device open3d::t::geometry::PointCloud::device_ = core::Device("CPU:0")

protected

◆ point_attr_

TensorMap open3d::t::geometry::PointCloud::point_attr_

protected

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

/home/runner/work/Open3D/Open3D/cpp/open3d/t/geometry/PointCloud.h (4dea5be (Tue Nov 30 18:43:52 2021 -0800))
/home/runner/work/Open3D/Open3D/cpp/open3d/t/geometry/PointCloud.cpp (4dea5be (Tue Nov 30 18:43:52 2021 -0800))

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PointCloud() [1/3]

◆ PointCloud() [2/3]

◆ PointCloud() [3/3]

◆ ~PointCloud()

Member Function Documentation

◆ Append()

◆ Clear()

◆ Clone()

◆ CreateFromDepthImage()

◆ CreateFromRGBDImage()

◆ EstimateColorGradients()

◆ EstimateNormals()

◆ FromLegacy()

◆ GetCenter()

◆ GetDevice()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetPointAttr() [1/3]

◆ GetPointAttr() [2/3]

◆ GetPointAttr() [3/3]

◆ GetPointColors() [1/2]

◆ GetPointColors() [2/2]

◆ GetPointNormals() [1/2]

◆ GetPointNormals() [2/2]

◆ GetPointPositions() [1/2]

◆ GetPointPositions() [2/2]

◆ HasPointAttr()

◆ HasPointColors()

◆ HasPointNormals()

◆ HasPointPositions()

◆ IsEmpty()

◆ operator+()

◆ ProjectToDepthImage()

◆ ProjectToRGBDImage()

◆ RemovePointAttr()

◆ Rotate()

◆ Scale()

◆ SetPointAttr()

◆ SetPointColors()

◆ SetPointNormals()

◆ SetPointPositions()

◆ To()

◆ ToLegacy()

◆ ToString()

◆ Transform()

◆ Translate()

◆ VoxelDownSample()

Field Documentation

◆ device_

◆ point_attr_