#include <PointCloud.h>

Inheritance diagram for open3d::geometry::PointCloud:

Public Member Functions
	PointCloud ()

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

	~PointCloud () override

PointCloud &	Clear () override
	Clear all elements in the geometry. More...

bool	IsEmpty () const override
	Returns `true` iff the geometry is empty. More...

Eigen::Vector3d	GetMinBound () const override
	Returns min bounds for geometry coordinates. More...

Eigen::Vector3d	GetMaxBound () const override
	Returns max bounds for geometry coordinates. More...

Eigen::Vector3d	GetCenter () const override
	Returns the center of the geometry coordinates. More...

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const override
	Returns an axis-aligned bounding box of the geometry. More...

OrientedBoundingBox	GetOrientedBoundingBox () const override
	Returns an oriented bounding box of the geometry. More...

PointCloud &	Transform (const Eigen::Matrix4d &transformation) override
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

PointCloud &	Translate (const Eigen::Vector3d &translation, bool relative=true) override
	Apply translation to the geometry coordinates. More...

PointCloud &	Scale (const double scale, bool center=true) override
	Apply scaling to the geometry coordinates. More...

PointCloud &	Rotate (const Eigen::Matrix3d &R, bool center=true) override
	Apply rotation to the geometry coordinates and normals. More...

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 AxisAlignedBoundingBox &bbox) const

std::shared_ptr< PointCloud >	Crop (const OrientedBoundingBox &bbox) 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::tuple< std::shared_ptr< TriangleMesh >, std::vector< size_t > >	ComputeConvexHull () const
	Function that computes the convex hull of the point cloud using qhull. More...

std::tuple< std::shared_ptr< TriangleMesh >, std::vector< size_t > >	HiddenPointRemoval (const Eigen::Vector3d &camera_location, const double radius) const

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

std::tuple< Eigen::Vector4d, std::vector< size_t > >	SegmentPlane (const double distance_threshold=0.01, const int ransac_n=3, const int num_iterations=100) const
	Segment PointCloud plane using the RANSAC algorithm. More...

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
	Returns one of registered geometry types. More...

int	Dimension () const
	Returns whether the geometry is 2D or 3D. More...

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())

Static Public Member Functions inherited from open3d::geometry::Geometry3D
static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

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::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::geometry::Geometry3D
	Geometry3D (GeometryType type)
	Parameterized Constructor. More...

Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const
	Compute min bound of a list points. More...

Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const
	Compute max bound of a list points. More...

Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points) const
	Computer center of a list of points. More...

void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, const size_t size, const Eigen::Vector3d &color) const
	Resizes the colors vector and paints a uniform color. More...

void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const
	Transforms all points with the transformation matrix. More...

void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const
	Transforms the normals with the transformation matrix. More...

void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const
	Apply translation to the geometry coordinates. More...

void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, bool center) const
	Scale the coordinates of all points by the scaling factor `scale`. More...

void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, bool center) const
	Rotate all points with the rotation matrix `R`. More...

void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals, bool center) const
	Rotate all normals with the rotation matrix `R`. More...

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

Constructor & Destructor Documentation

◆ PointCloud() [1/2]

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

inline

◆ PointCloud() [2/2]

open3d::geometry::PointCloud::PointCloud ( const std::vector< Eigen::Vector3d > & points )

inline

◆ ~PointCloud()

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

inlineoverride

Member Function Documentation

◆ Clear()

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

overridevirtual

Clear all elements in the geometry.

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::tuple< std::shared_ptr< TriangleMesh >, std::vector< size_t > > 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() [1/2]

std::shared_ptr< PointCloud > open3d::geometry::PointCloud::Crop ( const AxisAlignedBoundingBox & bbox ) const

Function to crop pointcloud into output pointcloud All points with coordinates outside the bounding box

Parameters

bbox	are clipped.

◆ Crop() [2/2]

std::shared_ptr< PointCloud > open3d::geometry::PointCloud::Crop ( const OrientedBoundingBox & bbox ) const

Function to crop pointcloud into output pointcloud All points with coordinates outside the bounding box

Parameters

bbox	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

Returns an axis-aligned bounding box of the geometry.

Implements open3d::geometry::Geometry3D.

◆ GetCenter()

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

overridevirtual

Returns the center of the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMaxBound()

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

overridevirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

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

overridevirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

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

overridevirtual

Returns an oriented bounding box of the geometry.

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

◆ HiddenPointRemoval()

std::tuple< std::shared_ptr< TriangleMesh >, std::vector< size_t > > open3d::geometry::PointCloud::HiddenPointRemoval	(	const Eigen::Vector3d &	camera_location,
		const double	radius
	)		const

This is an implementation of the Hidden Point Removal operator described in Katz et. al. 'Direct Visibility of Point Sets', 2007.

Parameters

camera_location	is the view point that is used to remove invisible points.
radius	defines the radius of the spherical projection. Additional information about the choice of
radius	for noisy point clouds can be found in Mehra et. al. 'Visibility of Noisy Point Cloud Data', 2010.

◆ IsEmpty()

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

overridevirtual

Returns true iff the geometry is empty.

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::Matrix3d &	R,
		bool	center = `true`
	)

overridevirtual

Apply rotation to the geometry coordinates and normals.

Parameters

R	A 3D vector that either defines the three angles for Euler rotation, or in the axis-angle representation the normalized vector defines the axis of rotation and the norm the angle around this axis.
center	If `true`, the rotation is applied relative to the center of the geometry. Otherwise, the rotation is directly applied to the geometry, i.e. relative to the origin.

Implements open3d::geometry::Geometry3D.

◆ Scale()

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

overridevirtual

Apply scaling to the geometry coordinates.

Parameters

scale	The scale parameter that is multiplied to the points/vertices of the geometry.
center	If `true`, the scale is applied relative to the center of the geometry. Otherwise, the scale is directly applied to the geometry, i.e. relative to the origin.

Implements open3d::geometry::Geometry3D.

◆ SegmentPlane()

std::tuple< Eigen::Vector4d, std::vector< size_t > > open3d::geometry::PointCloud::SegmentPlane	(	const double	distance_threshold = `0.01`,
		const int	ransac_n = `3`,
		const int	num_iterations = `100`
	)		const

Segment PointCloud plane using the RANSAC algorithm.

Parameters

distance_threshold	Max distance a point can be from the plane model, and still be considered an inlier.
ransac_n	Number of initial points to be considered inliers in each iteration.
num_iterations	Number of iterations.

Returns: Returns the plane model ax + by + cz + d = 0 and the indices of the plane inliers.

◆ 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

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

Implements open3d::geometry::Geometry3D.

◆ Translate()

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

overridevirtual

Apply translation to the geometry coordinates.

Parameters

translation	A 3D vector to transform the geometry.
relative	If `true`, the `translation` is directly applied to the geometry. Otherwise, the geometry center is moved to the `translation`.

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
/home/yixing/repo/Open3D/src/Open3D/Geometry/PointCloudSegmentation.cpp

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Constructor & Destructor Documentation

◆ PointCloud() [1/2]

◆ PointCloud() [2/2]

◆ ~PointCloud()

Member Function Documentation

◆ Clear()

◆ ClusterDBSCAN()

◆ ComputeConvexHull()

◆ ComputeMahalanobisDistance()

◆ ComputeMeanAndCovariance()

◆ ComputeNearestNeighborDistance()

◆ ComputePointCloudDistance()

◆ CreateFromDepthImage()

◆ CreateFromRGBDImage()

◆ CreateFromVoxelGrid()

◆ Crop() [1/2]

◆ Crop() [2/2]

◆ EstimateNormals()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetOrientedBoundingBox()

◆ HasColors()

◆ HasNormals()

◆ HasPoints()

◆ HiddenPointRemoval()

◆ IsEmpty()

◆ NormalizeNormals()

◆ operator+()

◆ operator+=()

◆ OrientNormalsToAlignWithDirection()

◆ OrientNormalsTowardsCameraLocation()

◆ PaintUniformColor()

◆ RemoveNoneFinitePoints()

◆ RemoveRadiusOutliers()

◆ RemoveStatisticalOutliers()

◆ Rotate()

◆ Scale()

◆ SegmentPlane()

◆ SelectDownSample()

◆ Transform()

◆ Translate()

◆ UniformDownSample()

◆ VoxelDownSample()

◆ VoxelDownSampleAndTrace()

Field Documentation

◆ colors_

◆ normals_

◆ points_