A pointcloud contains a set of 3D points. More...

#include <PointCloud.h>

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

Public Member Functions
	PointCloud (core::Dtype dtype=core::Dtype::Float32, const core::Device &device=core::Device("CPU:0"))
	Construct an empty pointcloud. More...

	PointCloud (const core::TensorList &points)

	PointCloud (const std::unordered_map< std::string, core::TensorList > &map_keys_to_tensorlists)

virtual	~PointCloud () override

const TensorListMap &	GetPointAttrPybind () const
	Getter for point_attr_ TensorListMap. Used in Pybind. More...

void	SetPointAttrPybind (const TensorListMap &point_attr)
	Setter for point_attr_ TensorListMap. Used in Pybind. More...

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

core::TensorList &	GetPoints ()
	Get the value of the "points" attribute. Convenience function. More...

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

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

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

const core::TensorList &	GetPoints () const
	Get the value of the "points" attribute. Convenience function. More...

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

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

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

void	SetPoints (const core::TensorList &value)
	Set the value of the "points" attribute. Convenience function. More...

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

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

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

bool	HasPoints () const

bool	HasPointColors () const

bool	HasPointNormals () const

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

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

bool	IsEmpty () const override
	Returns !HasPoints(). 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 &	Transform (const core::Tensor &transformation)
	Transforms the points and normals (if exist). More...

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

PointCloud &	Scale (double scale, const core::Tensor &center)
	Scale points. More...

PointCloud &	Rotate (const core::Tensor &R, const core::Tensor &center)
	Rotate points and normals (if exist). More...

core::Device	GetDevice () const

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

Static Public Member Functions
static geometry::PointCloud	FromLegacyPointCloud (const open3d::geometry::PointCloud &pcd_legacy, core::Dtype dtype=core::Dtype::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")

TensorListMap	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 pointcloud contains a set of 3D points.

The PointCloud class stores the attribute data in key-value pairs for flexibility, where the key is a string representing the attribute name and value is a TensorList containing the attribute data. In most cases, the length of an attribute should be equal to the length of the "points", the pointcloud class provides helper functions to check and facilitates this consistency.

Although the attributes are all stored in a key-value pair dictionary, the attributes have different levels:

Level 0: Default attribute {"points"}.
- Created by default, required for all pointclouds.
- The tensorlist must be of shape N x {3,}.
- Convenience functions:
  - PointCloud::GetPoints()
  - PointCloud::SetPoints(points_tensorlist)
  - PointCloud::HasPoints()
- The device of "points" determines the device of the pointcloud.
Level 1: Commonly-used attributes {"normals", "colors"}.
- Not created by default.
- The tensorlist must be of shape N x {3,}.
- Convenience functions:
  - PointCloud::GetPointNormals()
  - PointCloud::SetPointNormals(normals_tensorlist)
  - PointCloud::HasPointNormals()
  - PointCloud::GetPointColors()
  - PointCloud::SetPointColors(colors_tensorlist)
  - PointCloud::HasPointColors()
- Device must be the same as the device of "points". Dtype can be different.
Level 2: Custom attributes, e.g. {"labels", "alphas", "intensities"}.
- Not created by default. Created by users.
- No convenience functions.
- Use generalized helper functions. Examples:
  - PointCloud::GetPointAttr("labels")
  - PointCloud::SetPointAttr("labels", labels_tensorlist)
  - PointCloud::HasPointAttr("labels")
- Device must be the same as the device of "points". Dtype can be different.

Note that the level 0 and level 1 convenience functions can also be achieved via the generalized helper functions:

PointCloud::GetPoints() is the same as PointCloud::GetPointAttr("points")
PointCloud::HasPointNormals() is the same as PointCloud::HasPointAttr("normals")

Constructor & Destructor Documentation

◆ PointCloud() [1/3]

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

Construct an empty pointcloud.

◆ PointCloud() [2/3]

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

Construct a pointcloud from points.

Parameters

points

A tensorlist with element shape (3,).

The resulting pointcloud will have the same dtype and device as the tensorlist.
If the tensorlist is created in-place from a pre-allocated buffer, the tensorlist has a fixed size and thus the resulting pointcloud will have a fixed size and calling to functions like SynchronizedPushBack will raise an exception.

◆ PointCloud() [3/3]

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

Construct from points and other attributes of the points.

Parameters

map_keys_to_tensorlists A map of string to TensorList containing points and their attributes. point_dict must contain at least the "points" key.

◆ ~PointCloud()

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

inlineoverridevirtual

Member Function Documentation

◆ Clear()

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

inlineoverridevirtual

Clear all data in the pointcloud.

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

◆ FromLegacyPointCloud()

geometry::PointCloud open3d::t::geometry::PointCloud::FromLegacyPointCloud	(	const open3d::geometry::PointCloud &	pcd_legacy,
		core::Dtype	dtype = `core::Dtype::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

◆ 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() [1/2]

core::TensorList& 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() [2/2]

const core::TensorList& 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.

◆ GetPointAttrPybind()

const TensorListMap& open3d::t::geometry::PointCloud::GetPointAttrPybind ( ) const

inline

Getter for point_attr_ TensorListMap. Used in Pybind.

◆ GetPointColors() [1/2]

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

inline

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

◆ GetPointColors() [2/2]

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

inline

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

◆ GetPointNormals() [1/2]

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

inline

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

◆ GetPointNormals() [2/2]

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

inline

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

◆ GetPoints() [1/2]

core::TensorList& open3d::t::geometry::PointCloud::GetPoints ( )

inline

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

◆ GetPoints() [2/2]

const core::TensorList& open3d::t::geometry::PointCloud::GetPoints ( ) const

inline

Get the value of the "points" 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.

◆ HasPoints()

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

inline

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

◆ IsEmpty()

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

inlineoverridevirtual

Returns !HasPoints().

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

◆ Rotate()

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

Rotate points and normals (if exist).

◆ Scale()

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

Scale points.

◆ SetPointAttr()

void open3d::t::geometry::PointCloud::SetPointAttr	(	const std::string &	key,
		const core::TensorList &	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 tensorlist.

◆ SetPointAttrPybind()

void open3d::t::geometry::PointCloud::SetPointAttrPybind ( const TensorListMap & point_attr )

inline

Setter for point_attr_ TensorListMap. Used in Pybind.

◆ SetPointColors()

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

inline

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

◆ SetPointNormals()

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

inline

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

◆ SetPoints()

void open3d::t::geometry::PointCloud::SetPoints ( const core::TensorList & value )

inline

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

◆ SynchronizedPushBack()

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

inline

Synchronized push back, data will be copied. Before push back, all existing tensorlists must have the same length.

Parameters

map_keys_to_tensors The keys and values to be pushed back. It must contain the same keys and each corresponding tensor must have the same dtype and device.

◆ ToLegacyPointCloud()

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

Convert to a legacy Open3D PointCloud.

◆ Transform()

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

Transforms the points and normals (if exist).

◆ Translate()

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

Translates points.

Field Documentation

◆ device_

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

protected

◆ point_attr_

TensorListMap open3d::t::geometry::PointCloud::point_attr_

protected

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

/home/ssheorey/Documents/Open3D/Code/Open3D/cpp/open3d/t/geometry/PointCloud.h (c438ebe3 (Fri Oct 9 21:30:14 2020 -0700))
/home/ssheorey/Documents/Open3D/Code/Open3D/cpp/open3d/t/geometry/PointCloud.cpp (c438ebe3 (Fri Oct 9 21:30:14 2020 -0700))

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

◆ Clear()

◆ FromLegacyPointCloud()

◆ GetCenter()

◆ GetDevice()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetPointAttr() [1/2]

◆ GetPointAttr() [2/2]

◆ GetPointAttrPybind()

◆ GetPointColors() [1/2]

◆ GetPointColors() [2/2]

◆ GetPointNormals() [1/2]

◆ GetPointNormals() [2/2]

◆ GetPoints() [1/2]

◆ GetPoints() [2/2]

◆ HasPointAttr()

◆ HasPointColors()

◆ HasPointNormals()

◆ HasPoints()

◆ IsEmpty()

◆ Rotate()

◆ Scale()

◆ SetPointAttr()

◆ SetPointAttrPybind()

◆ SetPointColors()

◆ SetPointNormals()

◆ SetPoints()

◆ SynchronizedPushBack()

◆ ToLegacyPointCloud()

◆ Transform()

◆ Translate()

Field Documentation

◆ device_

◆ point_attr_