open3d.geometry.PointCloud

class open3d.geometry.PointCloud

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

class Type

Enum class for Geometry types.

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

Overloaded function.

  1. __init__(self: open3d.geometry.PointCloud) -> None

Default constructor

  1. __init__(self: open3d.geometry.PointCloud, arg0: open3d.geometry.PointCloud) -> None

Copy constructor

clear(self: open3d.geometry.Geometry) → None

Clear all elements in the geometry.

dimension(self: open3d.geometry.Geometry) → int

Returns whether the geometry is 2D or 3D.

get_geometry_type(self: open3d.geometry.Geometry) → open3d::geometry::Geometry::GeometryType

Returns one of registered geometry types.

get_max_bound(self: open3d.geometry.Geometry3D) → numpy.ndarray[float64[3, 1]]

Returns max bounds for geometry coordinates.

get_min_bound(self: open3d.geometry.Geometry3D) → numpy.ndarray[float64[3, 1]]

Returns min bounds for geometry coordinates.

has_colors(self: open3d.geometry.PointCloud) → bool

Returns True if the point cloud contains point colors.

has_normals(self: open3d.geometry.PointCloud) → bool

Returns True if the point cloud contains point normals.

has_points(self: open3d.geometry.PointCloud) → bool

Returns True if the point cloud contains points.

is_empty(self: open3d.geometry.Geometry) → bool

Returns True iff the geometry is empty.

normalize_normals(self: open3d.geometry.PointCloud) → None

Normalize point normals to length 1.

paint_uniform_color(self: open3d.geometry.PointCloud, color: numpy.ndarray[float64[3, 1]]) → None

Assign uniform color to all points.

transform(self: open3d.geometry.Geometry3D, arg0: numpy.ndarray[float64[4, 4]]) → None

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

HalfEdgeTriangleMesh = Type.HalfEdgeTriangleMesh
Image = Type.Image
LineSet = Type.LineSet
PointCloud = Type.PointCloud
TriangleMesh = Type.TriangleMesh
Unspecified = Type.Unspecified
VoxelGrid = Type.VoxelGrid
property colors

RGB colors of points.

Type

float64 array of shape (num_points, 3), range [0, 1] , use numpy.asarray() to access data

property normals

Points normals.

Type

float64 array of shape (num_points, 3), use numpy.asarray() to access data

property points

Points coordinates.

Type

float64 array of shape (num_points, 3), use numpy.asarray() to access data