#include <PointCloud.h>

Inheritance diagram for open3d::geometry::PointCloud:

Public Member Functions
	PointCloud ()

	~PointCloud () override

PointCloud &	Clear () override

bool	IsEmpty () const override

Eigen::Vector3d	GetMinBound () const override

Eigen::Vector3d	GetMaxBound () const override

Eigen::Vector3d	GetCenter () const override

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const override

OrientedBoundingBox	GetOrientedBoundingBox () const override

PointCloud &	Transform (const Eigen::Matrix4d &transformation) override

PointCloud &	Translate (const Eigen::Vector3d &translation, bool relative=true) override

PointCloud &	Scale (const double scale, bool center=true) override

PointCloud &	Rotate (const Eigen::Vector3d &rotation, bool center=true, RotationType type=RotationType::XYZ) override

PointCloud &	operator+= (const PointCloud &cloud)

PointCloud	operator+ (const PointCloud &cloud) const

bool	HasPoints () const

bool	HasNormals () const

bool	HasColors () const

PointCloud &	NormalizeNormals ()

PointCloud &	PaintUniformColor (const Eigen::Vector3d &color)
	Assigns each point in the PointCloud the same color. More...

PointCloud &	RemoveNoneFinitePoints (bool remove_nan=true, bool remove_infinite=true)

std::shared_ptr< PointCloud >	SelectDownSample (const std::vector< size_t > &indices, bool invert=false) const

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

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

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

std::shared_ptr< PointCloud >	Crop (const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound) const

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

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

bool	EstimateNormals (const KDTreeSearchParam &search_param=KDTreeSearchParamKNN(), bool fast_normal_computation=true)

bool	OrientNormalsToAlignWithDirection (const Eigen::Vector3d &orientation_reference=Eigen::Vector3d(0.0, 0.0, 1.0))

bool	OrientNormalsTowardsCameraLocation (const Eigen::Vector3d &camera_location=Eigen::Vector3d::Zero())

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

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

std::vector< double >	ComputeMahalanobisDistance () const

std::vector< double >	ComputeNearestNeighborDistance () const

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

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

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

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

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

GeometryType	GetGeometryType () const

int	Dimension () const

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)

static std::shared_ptr< PointCloud >	CreateFromRGBDImage (const RGBDImage &image, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic=Eigen::Matrix4d::Identity())

Data Fields
std::vector< Eigen::Vector3d >	points_

std::vector< Eigen::Vector3d >	normals_

std::vector< Eigen::Vector3d >	colors_

Additional Inherited Members
Public Types inherited from open3d::geometry::Geometry3D
enum	RotationType { RotationType::XYZ, RotationType::YZX, RotationType::ZXY, RotationType::XZY, RotationType::ZYX, RotationType::YXZ, RotationType::AxisAngle }

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::TriangleMesh = 5, GeometryType::HalfEdgeTriangleMesh = 6, GeometryType::Image = 7, GeometryType::RGBDImage = 8, GeometryType::TetraMesh = 9, GeometryType::OrientedBoundingBox = 10, GeometryType::AxisAlignedBoundingBox = 11 }

Protected Member Functions inherited from open3d::geometry::Geometry3D
	Geometry3D (GeometryType type)

Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const

Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const

Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points) const

void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, const size_t size, const Eigen::Vector3d &color) const

void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const

void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const

void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const

void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, bool center) const

void	RotatePoints (const Eigen::Vector3d &rotation, std::vector< Eigen::Vector3d > &points, bool center, RotationType type) const

void	RotateNormals (const Eigen::Vector3d &rotation, std::vector< Eigen::Vector3d > &normals, bool center, RotationType type) const

Eigen::Matrix3d	GetRotationMatrix (const Eigen::Vector3d &rotation, RotationType type=RotationType::XYZ) const

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

Constructor & Destructor Documentation

◆ PointCloud()

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

inline

◆ ~PointCloud()

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

inlineoverride

Member Function Documentation

◆ Clear()

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

overridevirtual

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 vector of point labels, -1 indicates noise according to the algorithm.

◆ ComputeConvexHull()

std::shared_ptr< TriangleMesh > 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

Parameters

input point cloud 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 an

Parameters

input 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

Parameters

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

Parameters

source	is the first point cloud.
target	is the second point cloud.

Returns: the output distance. It has the same size as the number of points in

Parameters

source

◆ 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`
	)

static

Factory function to create a pointcloud from a depth image and a camera model (PointCloudFactory.cpp) The input depth image can be either a float image, or a uint16_t image. In the latter case, the depth is scaled by 1 / depth_scale, and truncated at depth_trunc distance. The depth image is also sampled with stride, in order to support (fast) coarse point cloud extraction. Return an empty pointcloud if the conversion fails.

◆ CreateFromRGBDImage()

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

static

Factory function to create a pointcloud from an RGB-D image and a camera model (PointCloudFactory.cpp) Return an empty pointcloud if the conversion fails.

◆ 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).

◆ Crop()

std::shared_ptr< PointCloud > open3d::geometry::PointCloud::Crop	(	const Eigen::Vector3d &	min_bound,
		const Eigen::Vector3d &	max_bound
	)		const

Function to crop

Parameters

input	pointcloud into output pointcloud All points with coordinates less than
min_bound	or larger than
max_bound	are clipped.

◆ EstimateNormals()

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

Function to compute the normals of a point cloud

Parameters

cloud	is the input point cloud. It also stores the output normals. Normals are oriented with respect to the input point cloud if normals exist in the input.
search_param	The KDTree search parameters

◆ GetAxisAlignedBoundingBox()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ GetCenter()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ GetMaxBound()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ HasColors()

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

inline

◆ HasNormals()

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

inline

◆ HasPoints()

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

inline

◆ IsEmpty()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ NormalizeNormals()

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

inline

◆ operator+()

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

◆ operator+=()

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

◆ OrientNormalsToAlignWithDirection()

bool 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

cloud	is the input point cloud. It must have normals. Normals are oriented with respect to
orientation_reference

◆ OrientNormalsTowardsCameraLocation()

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

Function to orient the normals of a point cloud

Parameters

cloud	is the input point cloud. It also stores the output normals. Normals are oriented with towards
camera_location

◆ PaintUniformColor()

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

inline

Assigns each point in the PointCloud the same color.

Parameters

color.

◆ RemoveNoneFinitePoints()

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

Remove all points fromt he point cloud that have a nan entry, or infinite entries. Also removes the corresponding normals and color entries.

◆ 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

Parameters

nb_points	in a sphere of radius
search_radius

◆ 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

Parameters

nb_neighbor neighbors in average.

◆ Rotate()

PointCloud & open3d::geometry::PointCloud::Rotate	(	const Eigen::Vector3d &	rotation,
		bool	center = `true`,
		RotationType	type = `RotationType::XYZ`
	)

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ Scale()

PointCloud & open3d::geometry::PointCloud::Scale	(	const double	scale,
		bool	center = `true`
	)

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ SelectDownSample()

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

Function to select points from

Parameters

input pointcloud into

Returns: output pointcloud Points with indices in

Parameters

indices are selected.

◆ Transform()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ Translate()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ UniformDownSample()

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

Function to downsample

Parameters

input	pointcloud into output pointcloud uniformly
every_k_points	indicates the sample rate.

◆ VoxelDownSample()

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

Function to downsample

Parameters

input	pointcloud into output pointcloud with a voxel
voxel_size	defines the resolution of the voxel grid, smaller value leads to denser output point cloud. Normals and colors are averaged if they exist.

◆ VoxelDownSampleAndTrace()

std::tuple< std::shared_ptr< PointCloud >, Eigen::MatrixXi > 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 VoxelDownSample, but specialized for Surface convolution project. Experimental function.

Field Documentation

◆ colors_

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

◆ normals_

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

◆ points_

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

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

/home/yixing/repo/Open3D/src/Open3D/Geometry/PointCloud.h
/home/yixing/repo/Open3D/src/Open3D/Geometry/DownSample.cpp
/home/yixing/repo/Open3D/src/Open3D/Geometry/EstimateNormals.cpp
/home/yixing/repo/Open3D/src/Open3D/Geometry/PointCloud.cpp
/home/yixing/repo/Open3D/src/Open3D/Geometry/PointCloudCluster.cpp
/home/yixing/repo/Open3D/src/Open3D/Geometry/PointCloudFactory.cpp

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Constructor & Destructor Documentation

◆ PointCloud()

◆ ~PointCloud()

Member Function Documentation

◆ Clear()

◆ ClusterDBSCAN()

◆ ComputeConvexHull()

◆ ComputeMahalanobisDistance()

◆ ComputeMeanAndCovariance()

◆ ComputeNearestNeighborDistance()

◆ ComputePointCloudDistance()

◆ CreateFromDepthImage()

◆ CreateFromRGBDImage()

◆ CreateFromVoxelGrid()

◆ Crop()

◆ EstimateNormals()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetOrientedBoundingBox()

◆ HasColors()

◆ HasNormals()

◆ HasPoints()

◆ IsEmpty()

◆ NormalizeNormals()

◆ operator+()

◆ operator+=()

◆ OrientNormalsToAlignWithDirection()

◆ OrientNormalsTowardsCameraLocation()

◆ PaintUniformColor()

◆ RemoveNoneFinitePoints()

◆ RemoveRadiusOutliers()

◆ RemoveStatisticalOutliers()

◆ Rotate()

◆ Scale()

◆ SelectDownSample()

◆ Transform()

◆ Translate()

◆ UniformDownSample()

◆ VoxelDownSample()

◆ VoxelDownSampleAndTrace()

Field Documentation

◆ colors_

◆ normals_

◆ points_