open3d.t.geometry.PointCloud¶

class open3d.t.geometry.PointCloud¶

A pointcloud contains a set of 3D points.

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: open3d.cpu.pybind.t.geometry.PointCloud, device: open3d.cpu.pybind.core.Device) -> None
__init__(self: open3d.cpu.pybind.t.geometry.PointCloud, points: open3d.cpu.pybind.core.Tensor) -> None
__init__(self: open3d.cpu.pybind.t.geometry.PointCloud, map_keys_to_tensors: Dict[str, open3d.cpu.pybind.core.Tensor]) -> None

append(self: open3d.cpu.pybind.t.geometry.PointCloud, arg0: open3d.cpu.pybind.t.geometry.PointCloud) → open3d.cpu.pybind.t.geometry.PointCloud¶

clear(self)¶

Clear all elements in the geometry.

Returns: open3d.t.geometry.Geometry

clone(self: open3d.cpu.pybind.t.geometry.PointCloud) → open3d.cpu.pybind.t.geometry.PointCloud¶: Returns a copy of the point cloud on the same device.

cpu(self: open3d.cpu.pybind.t.geometry.PointCloud) → open3d.cpu.pybind.t.geometry.PointCloud¶: Transfer the point cloud to CPU. If the point cloud is already on CPU, no copy will be performed.

static create_from_depth_image(depth, intrinsics, extrinsics=(with default value), depth_scale=1000.0, depth_max=3.0, stride=1, with_normals=False)¶

Factory function to create a pointcloud (with only ‘points’) from a depth image and a camera model.

Given depth value d at (u, v) image coordinate, the corresponding 3d point is: z = d / depth_scale

x = (u - cx) * z / fx

y = (v - cy) * z / fy

Parameters

depth (open3d.t.geometry.Image) – The input depth image should be a uint16_t image.
intrinsics (open3d.core.Tensor) – Intrinsic parameters of the camera.
extrinsics (open3d.core.Tensor, optional) –
Extrinsic parameters of the camera. Default value:

[[1.0 0.0 0.0 0.0], [0.0 1.0 0.0 0.0], [0.0 0.0 1.0 0.0], [0.0 0.0 0.0 1.0]] Tensor[shape={4, 4}, stride={4, 1}, Float32

()
depth_scale (float, optional, default=1000.0) – The depth is scaled by 1 / depth_scale.
depth_max (float, optional, default=3.0) – Truncated at depth_max distance.
stride (int, optional, default=1) – Sampling factor to support coarse point cloud extraction. Unless normals are requested, there is no low pass filtering, so aliasing is possible for stride>1.
with_normals (bool, optional, default=False) – 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.

Returns

open3d.t.geometry.PointCloud

static create_from_rgbd_image(rgbd_image, intrinsics, extrinsics=(with default value), depth_scale=1000.0, depth_max=3.0, stride=1, with_normals=False)¶

Factory function to create a pointcloud (with properties {‘points’, ‘colors’}) from an RGBD image and a camera model.

Given depth value d at (u, v) image coordinate, the corresponding 3d point is:

z = d / depth_scale

x = (u - cx) * z / fx

y = (v - cy) * z / fy

Parameters

rgbd_image (open3d.t.geometry.RGBDImage) – The input RGBD image should have a uint16_t depth image and RGB image with any DType and the same size.
intrinsics (open3d.core.Tensor) – Intrinsic parameters of the camera.
extrinsics (open3d.core.Tensor, optional) –
Extrinsic parameters of the camera. Default value:

[[1.0 0.0 0.0 0.0], [0.0 1.0 0.0 0.0], [0.0 0.0 1.0 0.0], [0.0 0.0 0.0 1.0]] Tensor[shape={4, 4}, stride={4, 1}, Float32

()
depth_scale (float, optional, default=1000.0) – The depth is scaled by 1 / depth_scale.
depth_max (float, optional, default=3.0) – Truncated at depth_max distance.
stride (int, optional, default=1) – Sampling factor to support coarse point cloud extraction. Unless normals are requested, there is no low pass filtering, so aliasing is possible for stride>1.
with_normals (bool, optional, default=False) – 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.

Returns

open3d.t.geometry.PointCloud

cuda(self: open3d.cpu.pybind.t.geometry.PointCloud, device_id: int = 0) → open3d.cpu.pybind.t.geometry.PointCloud¶: Transfer the point cloud to a CUDA device. If the point cloud is already on the specified CUDA device, no copy will be performed.

static from_legacy_pointcloud(pcd_legacy: open3d.cpu.pybind.geometry.PointCloud, dtype: open3d.cpu.pybind.core.Dtype = Float32, device: open3d.cpu.pybind.core.Device = CPU:0) → open3d.cpu.pybind.t.geometry.PointCloud¶: Create a PointCloud from a legacy Open3D PointCloud.

get_center(self: open3d.cpu.pybind.t.geometry.PointCloud) → open3d.cpu.pybind.core.Tensor¶: Returns the center for point coordinates.

get_max_bound(self: open3d.cpu.pybind.t.geometry.PointCloud) → open3d.cpu.pybind.core.Tensor¶: Returns the max bound for point coordinates.

get_min_bound(self: open3d.cpu.pybind.t.geometry.PointCloud) → open3d.cpu.pybind.core.Tensor¶: Returns the min bound for point coordinates.

is_empty(self)¶

Returns True iff the geometry is empty.

Returns: bool

rotate(self: open3d.cpu.pybind.t.geometry.PointCloud, R: open3d.cpu.pybind.core.Tensor, center: open3d.cpu.pybind.core.Tensor) → open3d.cpu.pybind.t.geometry.PointCloud¶: Rotate points and normals (if exist).

scale(self: open3d.cpu.pybind.t.geometry.PointCloud, scale: float, center: open3d.cpu.pybind.core.Tensor) → open3d.cpu.pybind.t.geometry.PointCloud¶: Scale points.

to(self: open3d.cpu.pybind.t.geometry.PointCloud, device: open3d.cpu.pybind.core.Device, copy: bool = False) → open3d.cpu.pybind.t.geometry.PointCloud¶: Transfer the point cloud to a specified device.

to_legacy_pointcloud(self: open3d.cpu.pybind.t.geometry.PointCloud) → open3d.cpu.pybind.geometry.PointCloud¶: Convert to a legacy Open3D PointCloud.

transform(self: open3d.cpu.pybind.t.geometry.PointCloud, transformation: open3d.cpu.pybind.core.Tensor) → open3d.cpu.pybind.t.geometry.PointCloud¶: Transforms the points and normals (if exist).

translate(self: open3d.cpu.pybind.t.geometry.PointCloud, translation: open3d.cpu.pybind.core.Tensor, relative: bool = True) → open3d.cpu.pybind.t.geometry.PointCloud¶: Translates points.

voxel_down_sample(self: open3d.cpu.pybind.t.geometry.PointCloud, voxel_size: float) → open3d.cpu.pybind.t.geometry.PointCloud¶: Downsamples a point cloud with a specified voxel size.

property point¶

points, colors, normals, etc.

Type: Point’s attributes