Open3D (C++ API)
0.18.0+3975044
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A point cloud contains a list of 3D points. More...
#include <PointCloud.h>
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... | |
TensorMap & | GetPointAttr () |
Getter for point_attr_ TensorMap. 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 ¢er) |
Scales the PointPositions of the PointCloud. More... | |
PointCloud & | Rotate (const core::Tensor &R, const core::Tensor ¢er) |
Rotates the PointPositions and PointNormals (if exists). More... | |
PointCloud & | PaintUniformColor (const core::Tensor &color) |
Assigns uniform color to the point cloud. More... | |
PointCloud | SelectByMask (const core::Tensor &boolean_mask, bool invert=false) const |
Select points from input pointcloud, based on boolean mask indices into output point cloud. More... | |
PointCloud | SelectByIndex (const core::Tensor &indices, bool invert=false, bool remove_duplicates=false) const |
Select points from input pointcloud, based on indices list into output point cloud. More... | |
PointCloud | VoxelDownSample (double voxel_size, const std::string &reduction="mean") const |
Downsamples a point cloud with a specified voxel size. More... | |
PointCloud | UniformDownSample (size_t every_k_points) const |
Downsamples a point cloud by selecting every kth index point and its attributes. More... | |
PointCloud | RandomDownSample (double sampling_ratio) const |
Downsample a pointcloud by selecting random index point and its attributes. More... | |
PointCloud | FarthestPointDownSample (size_t num_samples) const |
Downsample a pointcloud into output pointcloud with a set of points has farthest distance. More... | |
std::tuple< PointCloud, core::Tensor > | RemoveRadiusOutliers (size_t nb_points, double search_radius) const |
Remove points that have less than nb_points neighbors in a sphere of a given radius. More... | |
std::tuple< PointCloud, core::Tensor > | RemoveStatisticalOutliers (size_t nb_neighbors, double std_ratio) const |
Remove points that are further away from their nb_neighbor neighbors in average. This function is not recommended to use on GPU. More... | |
std::tuple< PointCloud, core::Tensor > | RemoveDuplicatedPoints () const |
Remove duplicated points and there associated attributes. More... | |
std::tuple< PointCloud, core::Tensor > | RemoveNonFinitePoints (bool remove_nan=true, bool remove_infinite=true) const |
Remove all points from the point cloud that have a nan entry, or infinite value. It also removes the corresponding attributes. More... | |
core::Device | GetDevice () const override |
Returns the device attribute of this PointCloud. More... | |
std::tuple< TriangleMesh, core::Tensor > | HiddenPointRemoval (const core::Tensor &camera_location, double radius) const |
This is an implementation of the Hidden Point Removal operator described in Katz et. al. 'Direct Visibility of Point Sets', 2007. More... | |
core::Tensor | 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 This is a wrapper for a CPU implementation and a copy of the point cloud data and resulting labels will be made. More... | |
std::tuple< core::Tensor, core::Tensor > | SegmentPlane (const double distance_threshold=0.01, const int ransac_n=3, const int num_iterations=100, const double probability=0.99999999) const |
Segment PointCloud plane using the RANSAC algorithm. This is a wrapper for a CPU implementation and a copy of the point cloud data and resulting plane model and inlier indiecs will be made. More... | |
TriangleMesh | ComputeConvexHull (bool joggle_inputs=false) const |
std::tuple< PointCloud, core::Tensor > | ComputeBoundaryPoints (double radius, int max_nn=30, double angle_threshold=90.0) const |
Compute the boundary points of a point cloud. The implementation is inspired by the PCL implementation. Reference: https://pointclouds.org/documentation/classpcl_1_1_boundary_estimation.html. More... | |
PointCloud & | NormalizeNormals () |
Normalize point normals to length 1. More... | |
void | EstimateNormals (const utility::optional< 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 (Not recommended to use on GPU) if only max_nn parameter is provided, Radius search (Not recommended to use on GPU) if only radius is provided and Hybrid Search (Recommended) if radius parameter is also provided. More... | |
void | OrientNormalsToAlignWithDirection (const core::Tensor &orientation_reference=core::Tensor::Init< float >({0, 0, 1}, core::Device("CPU:0"))) |
Function to orient the normals of a point cloud. More... | |
void | OrientNormalsTowardsCameraLocation (const core::Tensor &camera_location=core::Tensor::Zeros({3}, core::Float32, core::Device("CPU:0"))) |
Function to orient the normals of a point cloud. More... | |
void | OrientNormalsConsistentTangentPlane (size_t k, const double lambda=0.0, const double cos_alpha_tol=1.0) |
Function to consistently orient estimated normals based on consistent tangent planes as described in Hoppe et al., "Surface
Reconstruction from Unorganized Points", 1992. Further details on parameters are described in Piazza, Valentini, Varetti, "Mesh Reconstruction from Point Cloud", 2023. More... | |
void | EstimateColorGradients (const utility::optional< 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. It uses KNN search (Not recommended to use on GPU) if only max_nn parameter is provided, Radius search (Not recommended to use on GPU) if only radius is provided and Hybrid Search (Recommended) if radius parameter is also provided. 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... | |
AxisAlignedBoundingBox | GetAxisAlignedBoundingBox () const |
Create an axis-aligned bounding box from attribute "positions". More... | |
OrientedBoundingBox | GetOrientedBoundingBox () const |
Create an oriented bounding box from attribute "positions". More... | |
PointCloud | Crop (const AxisAlignedBoundingBox &aabb, bool invert=false) const |
Function to crop pointcloud into output pointcloud. More... | |
PointCloud | Crop (const OrientedBoundingBox &obb, bool invert=false) const |
Function to crop pointcloud into output pointcloud. More... | |
LineSet | ExtrudeRotation (double angle, const core::Tensor &axis, int resolution=16, double translation=0.0, bool capping=true) const |
LineSet | ExtrudeLinear (const core::Tensor &vector, double scale=1.0, bool capping=true) const |
int | PCAPartition (int max_points) |
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::core::IsDevice | |
IsDevice ()=default | |
virtual | ~IsDevice ()=default |
bool | IsCPU () const |
bool | IsCUDA () const |
bool | IsSYCL () const |
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 class | GeometryType { Unspecified = 0 , PointCloud = 1 , VoxelGrid = 2 , Octree = 3 , LineSet = 4 , MeshBase = 5 , TriangleMesh = 6 , HalfEdgeTriangleMesh = 7 , Image = 8 , RGBDImage = 9 , TetraMesh = 10 , OrientedBoundingBox = 11 , AxisAlignedBoundingBox = 12 } |
Specifies possible geometry types. More... | |
Protected Member Functions inherited from open3d::t::geometry::Geometry | |
Geometry (GeometryType type, int dimension) | |
Parameterized Constructor. More... | |
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".
PointCloud::GetPointAttr(), PointCloud::SetPointAttr(), PointCloud::HasPointAttr() also work for default attribute "position" and common attributes "normals" and "colors", e.g.,
open3d::t::geometry::PointCloud::PointCloud | ( | const core::Device & | device = core::Device("CPU:0") | ) |
Construct an empty point cloud on the provided device.
device | The device on which to initialize the point cloud (default: 'CPU:0'). |
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).
points | A tensor with element shape {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.
map_keys_to_tensors | A map of string to Tensor containing points and their attributes. point_dict must contain at least the "positions" key. |
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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.
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Clear all data in the point cloud.
Implements open3d::t::geometry::Geometry.
PointCloud open3d::t::geometry::PointCloud::Clone | ( | ) | const |
Returns copy of the point cloud on the same device.
core::Tensor open3d::t::geometry::PointCloud::ClusterDBSCAN | ( | double | eps, |
size_t | min_points, | ||
bool | print_progress = false |
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) | const |
Cluster PointCloud using the DBSCAN algorithm Ester et al., "A Density-Based Algorithm for Discovering Clusters in Large Spatial Databases with Noise", 1996 This is a wrapper for a CPU implementation and a copy of the point cloud data and resulting labels will be made.
eps | Density parameter that is used to find neighbouring points. |
min_points | Minimum number of points to form a cluster. |
print_progress | If true the progress is visualized in the console. |
std::tuple< PointCloud, core::Tensor > open3d::t::geometry::PointCloud::ComputeBoundaryPoints | ( | double | radius, |
int | max_nn = 30 , |
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double | angle_threshold = 90.0 |
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) | const |
Compute the boundary points of a point cloud. The implementation is inspired by the PCL implementation. Reference: https://pointclouds.org/documentation/classpcl_1_1_boundary_estimation.html.
radius | Neighbor search radius parameter. |
max_nn | Neighbor search max neighbors parameter [Default = 30]. |
angle_threshold | Angle threshold to decide if a point is on the boundary [Default = 90.0]. |
TriangleMesh open3d::t::geometry::PointCloud::ComputeConvexHull | ( | bool | joggle_inputs = false | ) | const |
Compute the convex hull of a point cloud using qhull.
This runs on the CPU.
joggle_inputs | (default False). Handle precision problems by randomly perturbing the input data. Set to True if perturbing the input iis acceptable but you need convex simplicial output. If False, neighboring facets may be merged in case of precision problems. See QHull docs for more details. |
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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:
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. |
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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:
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. |
PointCloud open3d::t::geometry::PointCloud::Crop | ( | const AxisAlignedBoundingBox & | aabb, |
bool | invert = false |
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) | const |
Function to crop pointcloud into output pointcloud.
aabb | AxisAlignedBoundingBox to crop points. |
invert | Crop the points outside of the bounding box or inside of the bounding box. |
PointCloud open3d::t::geometry::PointCloud::Crop | ( | const OrientedBoundingBox & | obb, |
bool | invert = false |
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) | const |
Function to crop pointcloud into output pointcloud.
obb | OrientedBoundingBox to crop points. |
invert | Crop the points outside of the bounding box or inside of the bounding box. |
void open3d::t::geometry::PointCloud::EstimateColorGradients | ( | const utility::optional< int > | max_nn = 30 , |
const utility::optional< double > | radius = utility::nullopt |
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) |
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. It uses KNN search (Not recommended to use on GPU) if only max_nn parameter is provided, Radius search (Not recommended to use on GPU) if only radius is provided and Hybrid Search (Recommended) if radius parameter is also provided.
max_nn | [optional] Neighbor search max neighbors parameter [Default = 30]. |
radius | [optional] Neighbor search radius parameter to use HybridSearch. [Recommended ~1.4x voxel size]. |
void open3d::t::geometry::PointCloud::EstimateNormals | ( | const utility::optional< int > | max_nn = 30 , |
const utility::optional< double > | radius = utility::nullopt |
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) |
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 (Not recommended to use on GPU) if only max_nn parameter is provided, Radius search (Not recommended to use on GPU) if only radius is provided and Hybrid Search (Recommended) if radius parameter is also provided.
max_nn | [optional] Neighbor search max neighbors parameter [Default = 30]. |
radius | [optional] Neighbor search radius parameter. [Recommended ~1.4x voxel size]. |
LineSet open3d::t::geometry::PointCloud::ExtrudeLinear | ( | const core::Tensor & | vector, |
double | scale = 1.0 , |
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bool | capping = true |
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) | const |
Sweeps the point cloud along a direction vector.
vector | The direction vector. |
scale | Scalar factor which essentially scales the direction vector. |
capping | If true adds caps to the mesh. |
LineSet open3d::t::geometry::PointCloud::ExtrudeRotation | ( | double | angle, |
const core::Tensor & | axis, | ||
int | resolution = 16 , |
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double | translation = 0.0 , |
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bool | capping = true |
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) | const |
Sweeps the point cloud rotationally about an axis.
angle | The rotation angle in degree. |
axis | The rotation axis. |
resolution | The resolution defines the number of intermediate sweeps about the rotation axis. |
translation | The translation along the rotation axis. |
capping | If true adds caps to the mesh. |
PointCloud open3d::t::geometry::PointCloud::FarthestPointDownSample | ( | size_t | num_samples | ) | const |
Downsample a pointcloud into output pointcloud with a set of points has farthest distance.
The sampling is performed by selecting the farthest point from previous selected points iteratively.
num_samples | Number of points to be sampled. |
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Create a PointCloud from a legacy Open3D PointCloud.
AxisAlignedBoundingBox open3d::t::geometry::PointCloud::GetAxisAlignedBoundingBox | ( | ) | const |
Create an axis-aligned bounding box from attribute "positions".
core::Tensor open3d::t::geometry::PointCloud::GetCenter | ( | ) | const |
Returns the center for point coordinates.
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Returns the device attribute of this PointCloud.
Implements open3d::t::geometry::Geometry.
core::Tensor open3d::t::geometry::PointCloud::GetMaxBound | ( | ) | const |
Returns the max bound for point coordinates.
core::Tensor open3d::t::geometry::PointCloud::GetMinBound | ( | ) | const |
Returns the min bound for point coordinates.
OrientedBoundingBox open3d::t::geometry::PointCloud::GetOrientedBoundingBox | ( | ) | const |
Create an oriented bounding box from attribute "positions".
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Getter for point_attr_ TensorMap.
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Getter for point_attr_ TensorMap. Used in Pybind.
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Get attributes. Throws exception if the attribute does not exist.
key | Attribute name. |
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Get attributes. Throws exception if the attribute does not exist.
key | Attribute name. |
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Get the value of the "colors" attribute. Convenience function.
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Get the value of the "colors" attribute. Convenience function.
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Get the value of the "normals" attribute. Convenience function.
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Get the value of the "normals" attribute. Convenience function.
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Get the value of the "positions" attribute. Convenience function.
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Get the value of the "positions" attribute. Convenience function.
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Returns true if all of the following are true: 1) attribute key exist 2) attribute's length as points' length 3) attribute's length > 0
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Returns true if all of the following 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.
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Returns true if all of the following 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.
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Check if the "positions" attribute's value has length > 0. This is a convenience function.
std::tuple< TriangleMesh, core::Tensor > open3d::t::geometry::PointCloud::HiddenPointRemoval | ( | const core::Tensor & | camera_location, |
double | radius | ||
) | const |
This is an implementation of the Hidden Point Removal operator described in Katz et. al. 'Direct Visibility of Point Sets', 2007.
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.
This is a wrapper for a CPU implementation and a copy of the point cloud data and resulting visible triangle mesh and indiecs will be made.
camera_location | All points not visible from that location will be removed. |
radius | The radius of the spherical projection. |
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Returns !HasPointPositions().
Implements open3d::t::geometry::Geometry.
PointCloud & open3d::t::geometry::PointCloud::NormalizeNormals | ( | ) |
Normalize point normals to length 1.
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operator+ for t::PointCloud appends the compatible attributes to the point cloud.
void open3d::t::geometry::PointCloud::OrientNormalsConsistentTangentPlane | ( | size_t | k, |
const double | lambda = 0.0 , |
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const double | cos_alpha_tol = 1.0 |
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) |
Function to consistently orient estimated normals based on consistent tangent planes as described in Hoppe et al., "Surface Reconstruction from Unorganized Points", 1992. Further details on parameters are described in Piazza, Valentini, Varetti, "Mesh Reconstruction from Point Cloud", 2023.
k | k nearest neighbour for graph reconstruction for normal propagation. |
lambda | penalty constant on the distance of a point from the tangent plane |
cos_alpha_tol | treshold that defines the amplitude of the cone spanned by the reference normal |
void open3d::t::geometry::PointCloud::OrientNormalsToAlignWithDirection | ( | const core::Tensor & | orientation_reference = core::Tensor::Init<float>({0, 0, 1}, core::Device("CPU:0")) | ) |
Function to orient the normals of a point cloud.
orientation_reference | Normals are oriented with respect to orientation_reference. |
void open3d::t::geometry::PointCloud::OrientNormalsTowardsCameraLocation | ( | const core::Tensor & | camera_location = core::Tensor::Zeros( {3}, core::Float32, core::Device("CPU:0")) | ) |
Function to orient the normals of a point cloud.
camera_location | Normals are oriented with towards the camera_location. |
PointCloud & open3d::t::geometry::PointCloud::PaintUniformColor | ( | const core::Tensor & | color | ) |
Assigns uniform color to the point cloud.
color | RGB color for the point cloud. {3,} shaped Tensor. Floating color values are clipped between 0.0 and 1.0. |
int open3d::t::geometry::PointCloud::PCAPartition | ( | int | max_points | ) |
Partition the point cloud by recursively doing PCA. This function creates a new point attribute with the name "partition_ids".
max_points | The maximum allowed number of points in a partition. |
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")) , |
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float | depth_scale = 1000.0f , |
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float | depth_max = 3.0f |
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Project a point cloud to a depth image.
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")) , |
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float | depth_scale = 1000.0f , |
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float | depth_max = 3.0f |
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) |
Project a point cloud to an RGBD image.
PointCloud open3d::t::geometry::PointCloud::RandomDownSample | ( | double | sampling_ratio | ) | const |
Downsample a pointcloud by selecting random index point and its attributes.
sampling_ratio | Sampling ratio, the ratio of sample to total number of points in the pointcloud. |
std::tuple< PointCloud, core::Tensor > open3d::t::geometry::PointCloud::RemoveDuplicatedPoints | ( | ) | const |
Remove duplicated points and there associated attributes.
std::tuple< PointCloud, core::Tensor > open3d::t::geometry::PointCloud::RemoveNonFinitePoints | ( | bool | remove_nan = true , |
bool | remove_infinite = true |
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) | const |
Remove all points from the point cloud that have a nan entry, or infinite value. It also removes the corresponding attributes.
remove_nan | Remove NaN values from the PointCloud. |
remove_infinite | Remove infinite values from the PointCloud. |
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Removes point attribute by key value. Primary attribute "positions" cannot be removed. Throws warning if attribute key does not exists.
key | Attribute name. |
std::tuple< PointCloud, core::Tensor > open3d::t::geometry::PointCloud::RemoveRadiusOutliers | ( | size_t | nb_points, |
double | search_radius | ||
) | const |
Remove points that have less than nb_points
neighbors in a sphere of a given radius.
nb_points | Number of neighbor points required within the radius. |
search_radius | Radius of the sphere. |
std::tuple< PointCloud, core::Tensor > open3d::t::geometry::PointCloud::RemoveStatisticalOutliers | ( | size_t | nb_neighbors, |
double | std_ratio | ||
) | const |
Remove points that are further away from their nb_neighbor
neighbors in average. This function is not recommended to use on GPU.
nb_neighbors | Number of neighbors around the target point. |
std_ratio | Standard deviation ratio. |
PointCloud & open3d::t::geometry::PointCloud::Rotate | ( | const core::Tensor & | R, |
const core::Tensor & | center | ||
) |
Rotates the PointPositions and PointNormals (if exists).
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 |
PointCloud & open3d::t::geometry::PointCloud::Scale | ( | double | scale, |
const core::Tensor & | center | ||
) |
Scales the PointPositions of the PointCloud.
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 |
std::tuple< core::Tensor, core::Tensor > open3d::t::geometry::PointCloud::SegmentPlane | ( | const double | distance_threshold = 0.01 , |
const int | ransac_n = 3 , |
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const int | num_iterations = 100 , |
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const double | probability = 0.99999999 |
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) | const |
Segment PointCloud plane using the RANSAC algorithm. This is a wrapper for a CPU implementation and a copy of the point cloud data and resulting plane model and inlier indiecs will be made.
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 | Maximum number of iterations. |
probability | Expected probability of finding the optimal plane. |
PointCloud open3d::t::geometry::PointCloud::SelectByIndex | ( | const core::Tensor & | indices, |
bool | invert = false , |
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bool | remove_duplicates = false |
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) | const |
Select points from input pointcloud, based on indices list into output point cloud.
indices | Int64 indexing tensor of shape {n,} containing index value that is to be selected. |
invert | Set to True to invert the selection of indices, and also ignore the duplicated indices. |
remove_duplicates | Set to True to remove the duplicated indices. |
PointCloud open3d::t::geometry::PointCloud::SelectByMask | ( | const core::Tensor & | boolean_mask, |
bool | invert = false |
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) | const |
Select points from input pointcloud, based on boolean mask indices into output point cloud.
boolean_mask | Boolean indexing tensor of shape {n,} containing true value for the indices that is to be selected. |
invert | Set to True to invert the selection of indices. |
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Set attributes. If the attribute key already exists, its value will be overwritten, otherwise, the new key will be created.
key | Attribute name. |
value | A tensor. |
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Set the value of the "colors" attribute. Convenience function.
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Set the value of the "normals" attribute. Convenience function.
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Set the value of the "positions" attribute. Convenience function.
PointCloud open3d::t::geometry::PointCloud::To | ( | const core::Device & | device, |
bool | copy = false |
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) | const |
Transfer the point cloud to a specified device.
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. |
open3d::geometry::PointCloud open3d::t::geometry::PointCloud::ToLegacy | ( | ) | const |
Convert to a legacy Open3D PointCloud.
std::string open3d::t::geometry::PointCloud::ToString | ( | ) | const |
Text description.
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'
transformation | Transformation [Tensor of dim {4,4}]. |
PointCloud & open3d::t::geometry::PointCloud::Translate | ( | const core::Tensor & | translation, |
bool | relative = true |
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) |
Translates the PointPositions of the PointCloud.
translation | translation tensor of dimension {3} Should be on the same device as the PointCloud |
relative | if true (default): translates relative to Center |
PointCloud open3d::t::geometry::PointCloud::UniformDownSample | ( | size_t | every_k_points | ) | const |
Downsamples a point cloud by selecting every kth index point and its attributes.
every_k_points | Sample rate, the selected point indices are [0, k, 2k, …]. |
PointCloud open3d::t::geometry::PointCloud::VoxelDownSample | ( | double | voxel_size, |
const std::string & | reduction = "mean" |
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) | const |
Downsamples a point cloud with a specified voxel size.
voxel_size | Voxel size. A positive number. |
reduction | Reduction type. Currently only support "mean". |
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