A LineSet contains points and lines joining them and optionally attributes on the points and lines. More...

#include <LineSet.h>

Inheritance diagram for open3d::t::geometry::LineSet:

Public Member Functions
	LineSet (const core::Device &device=core::Device("CPU:0"))
	Construct an empty LineSet on the provided device. More...

	LineSet (const core::Tensor &point_positions, const core::Tensor &line_indices)

virtual	~LineSet () override

LineSet	To (const core::Device &device, bool copy=false) const

LineSet	Clone () const
	Returns copy of the line set on the same device. More...

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 ()

const TensorMap &	GetLineAttr () const
	Getter for line_attr_ TensorMap. Used in Pybind. More...

TensorMap &	GetLineAttr ()
	Getter for line_attr_ TensorMap. More...

core::Tensor &	GetLineAttr (const std::string &key)

core::Tensor &	GetLineIndices ()

core::Tensor &	GetLineColors ()

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

void	RemovePointAttr (const std::string &key)

const core::Tensor &	GetPointPositions () const

const core::Tensor &	GetLineAttr (const std::string &key) const

void	RemoveLineAttr (const std::string &key)

const core::Tensor &	GetLineIndices () const

const core::Tensor &	GetLineColors () const

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

void	SetPointPositions (const core::Tensor &value)

void	SetLineAttr (const std::string &key, const core::Tensor &value)

void	SetLineIndices (const core::Tensor &value)
	Set the value of the "indices" attribute in line_attr_. More...

void	SetLineColors (const core::Tensor &value)

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

bool	HasPointPositions () const

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

bool	HasLineIndices () const

bool	HasLineColors () const

LineSet &	Clear () override
	Clear all data in the line set. More...

bool	IsEmpty () const override
	Returns !HasPointPositions(), line indices are ignored. More...

core::Tensor	GetMinBound () const
	Returns the max 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...

LineSet &	Transform (const core::Tensor &transformation)
	Transforms the points and lines of the LineSet. More...

LineSet &	Translate (const core::Tensor &translation, bool relative=true)
	Translates the points and lines of the LineSet. More...

LineSet &	Scale (double scale, const core::Tensor &center)
	Scales the points and lines of the LineSet. More...

LineSet &	Rotate (const core::Tensor &R, const core::Tensor &center)
	Rotates the points and lines of the line set. Custom attributes (e.g.: point or line normals) are not transformed. More...

core::Device	GetDevice () const override
	Returns the device attribute of this LineSet. More...

open3d::geometry::LineSet	ToLegacy () const
	Convert to a legacy Open3D LineSet. More...

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const
	Create an axis-aligned bounding box from point attribute "positions". More...

OrientedBoundingBox	GetOrientedBoundingBox () const
	Create an oriented bounding box from point attribute "positions". More...

TriangleMesh	ExtrudeRotation (double angle, const core::Tensor &axis, int resolution=16, double translation=0.0, bool capping=true) const

TriangleMesh	ExtrudeLinear (const core::Tensor &vector, double scale=1.0, bool capping=true) const

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

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 geometry::LineSet	FromLegacy (const open3d::geometry::LineSet &lineset_legacy, core::Dtype float_dtype=core::Float32, core::Dtype int_dtype=core::Int64, const core::Device &device=core::Device("CPU:0"))

Protected Attributes
core::Device	device_ = core::Device("CPU:0")

TensorMap	point_attr_

TensorMap	line_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...

Detailed Description

A LineSet contains points and lines joining them and optionally attributes on the points and lines.

The LineSet 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 Tensor containing the attribute data.

By default, there are two sets of dictionaries: point_attr_ and line_attr_. In most cases, the length of an attribute should be equal to the length of the data corresponding to the primary key. For instance, point_attr_["colors"] should have the same length as point_attr_["positions"].

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

Default attributes {"positions", "indices"}.
- Created by default, required for all LineSets.
- The "positions" tensor must have shape {N,3} while the "indices" tensor must have shape {N,2} and DtypeCode Int.
- The device of "positions" and "indices" must be consistent and they determine the device of the LineSet.
- Usage:
Commonly used attributes: line colors.
- Not created by default.
- The tensor must be of shape {N,3}.
- For all attributes, the device must be consistent with the device of the LineSet.
- Value tensors can have any Dtype.
- Usage:
  - Line colors (stored at line_attr_["colors"])
Custom attributes, e.g. {"labels"}.
- Not created by default. Users can add their own custom attributes.
- For all attributes, the device must be consistent with the device of the LineSet.
- Value tensors can have any Dtype.
- Usage:
  - LineSet::GetPointAttr("labels")
  - LineSet::SetPointAttr("labels", point_labels_tensor)
  - LineSet::HasPointAttr("labels")
  - LineSet::GetLineAttr("labels")
  - LineSet::SetLineAttr("labels", line_labels_tensor)
  - LineSet::HasLineAttr("labels")

Note that {Get|Set|Has}{Point|Line}Attr() functions also work "positions" and "indices".

Constructor & Destructor Documentation

◆ LineSet() [1/2]

open3d::t::geometry::LineSet::LineSet ( const core::Device & device = core::Device("CPU:0") )

Construct an empty LineSet on the provided device.

◆ LineSet() [2/2]

open3d::t::geometry::LineSet::LineSet	(	const core::Tensor &	point_positions,
		const core::Tensor &	line_indices
	)

Construct a LineSet from points and lines.

The input tensors will be directly used as the underlying storage of the line set (no memory copy). If the tensor is created in-place from a pre-allocated buffer, the tensor has a fixed size and thus the resulting LineSet will have a fixed size and calling to functions like SynchronizedPushBack will raise an exception.

The resulting LineSet will have the same dtype and device as the tensor. The device for points must be consistent with lines.

Parameters

point_positions	A tensor with element shape {3}.
line_indices	A tensor with element shape {2} and Int DtypeCode.

◆ ~LineSet()

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

inlineoverridevirtual

Member Function Documentation

◆ Clear()

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

inlineoverridevirtual

Clear all data in the line set.

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

◆ Clone()

LineSet open3d::t::geometry::LineSet::Clone ( ) const

inline

Returns copy of the line set on the same device.

◆ ExtrudeLinear()

TriangleMesh open3d::t::geometry::LineSet::ExtrudeLinear	(	const core::Tensor &	vector,
		double	scale = `1.0`,
		bool	capping = `true`
	)		const

Sweeps the line set along a direction vector.

Parameters

vector	The direction vector.
scale	Scalar factor which essentially scales the direction vector.
capping	If true adds caps to the mesh.

Returns: A triangle mesh with the result of the sweep operation.

◆ ExtrudeRotation()

TriangleMesh open3d::t::geometry::LineSet::ExtrudeRotation	(	double	angle,
		const core::Tensor &	axis,
		int	resolution = `16`,
		double	translation = `0.0`,
		bool	capping = `true`
	)		const

Sweeps the line set rotationally about an axis.

Parameters

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.

Returns: A triangle mesh with the result of the sweep operation.

◆ FromLegacy()

geometry::LineSet open3d::t::geometry::LineSet::FromLegacy	(	const open3d::geometry::LineSet &	lineset_legacy,
		core::Dtype	float_dtype = `core::Float32`,
		core::Dtype	int_dtype = `core::Int64`,
		const core::Device &	device = `core::Device("CPU:0")`
	)

static

Create a LineSet from a legacy Open3D LineSet.

Parameters

lineset_legacy	Legacy Open3D LineSet.
float_dtype	Float32 or Float64, used to store floating point values, e.g. points, normals, colors.
int_dtype	Int32 or Int64, used to store index values, e.g. line indices.
device	The device where the resulting LineSet resides.

◆ GetAxisAlignedBoundingBox()

AxisAlignedBoundingBox open3d::t::geometry::LineSet::GetAxisAlignedBoundingBox ( ) const

Create an axis-aligned bounding box from point attribute "positions".

◆ GetCenter()

core::Tensor open3d::t::geometry::LineSet::GetCenter ( ) const

inline

Returns the center for point coordinates.

◆ GetDevice()

core::Device open3d::t::geometry::LineSet::GetDevice ( ) const

inlineoverridevirtual

Returns the device attribute of this LineSet.

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

◆ GetLineAttr() [1/4]

TensorMap& open3d::t::geometry::LineSet::GetLineAttr ( )

inline

Getter for line_attr_ TensorMap.

◆ GetLineAttr() [2/4]

const TensorMap& open3d::t::geometry::LineSet::GetLineAttr ( ) const

inline

Getter for line_attr_ TensorMap. Used in Pybind.

◆ GetLineAttr() [3/4]

core::Tensor& open3d::t::geometry::LineSet::GetLineAttr ( const std::string & key )

inline

Get line attributes in line_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

◆ GetLineAttr() [4/4]

const core::Tensor& open3d::t::geometry::LineSet::GetLineAttr ( const std::string & key ) const

inline

Get line attributes in line_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

◆ GetLineColors() [1/2]

core::Tensor& open3d::t::geometry::LineSet::GetLineColors ( )

inline

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

◆ GetLineColors() [2/2]

const core::Tensor& open3d::t::geometry::LineSet::GetLineColors ( ) const

inline

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

◆ GetLineIndices() [1/2]

core::Tensor& open3d::t::geometry::LineSet::GetLineIndices ( )

inline

Get the value of the "indices" attribute in line_attr_. Convenience function.

◆ GetLineIndices() [2/2]

const core::Tensor& open3d::t::geometry::LineSet::GetLineIndices ( ) const

inline

Get the value of the "indices" attribute in line_attr_. Convenience function.

◆ GetMaxBound()

core::Tensor open3d::t::geometry::LineSet::GetMaxBound ( ) const

inline

Returns the max bound for point coordinates.

◆ GetMinBound()

core::Tensor open3d::t::geometry::LineSet::GetMinBound ( ) const

inline

Returns the max bound for point coordinates.

◆ GetOrientedBoundingBox()

OrientedBoundingBox open3d::t::geometry::LineSet::GetOrientedBoundingBox ( ) const

Create an oriented bounding box from point attribute "positions".

◆ GetPointAttr() [1/4]

TensorMap& open3d::t::geometry::LineSet::GetPointAttr ( )

inline

Getter for point_attr_ TensorMap.

◆ GetPointAttr() [2/4]

const TensorMap& open3d::t::geometry::LineSet::GetPointAttr ( ) const

inline

Getter for point_attr_ TensorMap. Used in Pybind.

◆ GetPointAttr() [3/4]

core::Tensor& open3d::t::geometry::LineSet::GetPointAttr ( const std::string & key )

inline

Get point attributes in point_attr_. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

◆ GetPointAttr() [4/4]

const core::Tensor& open3d::t::geometry::LineSet::GetPointAttr ( const std::string & key ) const

inline

Get point attributes. Throws exception if the attribute does not exist.

Parameters

key	Attribute name.

◆ GetPointPositions() [1/2]

core::Tensor& open3d::t::geometry::LineSet::GetPointPositions ( )

inline

Get the value of the "positions" attribute in point_attr_. Convenience function.

◆ GetPointPositions() [2/2]

const core::Tensor& open3d::t::geometry::LineSet::GetPointPositions ( ) const

inline

Get the value of the "positions" attribute in point_attr_. Convenience function.

◆ HasLineAttr()

bool open3d::t::geometry::LineSet::HasLineAttr ( const std::string & key ) const

inline

Returns true if all of the following are true in line_attr_: 1) attribute key exist 2) attribute's length as "indices"'s length 3) attribute's length > 0

◆ HasLineColors()

bool open3d::t::geometry::LineSet::HasLineColors ( ) const

inline

Returns true if all of the following are true in line_attr_: 1) attribute "colors" exist 2) attribute "colors"'s length as "indices"'s length 3) attribute "colors"'s length > 0 Convenience function.

◆ HasLineIndices()

bool open3d::t::geometry::LineSet::HasLineIndices ( ) const

inline

Check if the "indices" attribute's value in line_attr_ has length > 0. Convenience function.

◆ HasPointAttr()

bool open3d::t::geometry::LineSet::HasPointAttr ( const std::string & key ) const

inline

Returns true if all of the following are true in point_attr_: 1) attribute key exist 2) attribute's length as "points"'s length 3) attribute's length > 0

◆ HasPointPositions()

bool open3d::t::geometry::LineSet::HasPointPositions ( ) const

inline

Check if the "positions" attribute's value in point_attr_ has length > 0. Convenience function.

◆ IsEmpty()

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

inlineoverridevirtual

Returns !HasPointPositions(), line indices are ignored.

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

◆ RemoveLineAttr()

void open3d::t::geometry::LineSet::RemoveLineAttr ( const std::string & key )

inline

Removes line attribute by key value. Primary attribute "indices" cannot be removed. Throws warning if attribute key does not exists.

Parameters

key	Attribute name.

◆ RemovePointAttr()

void open3d::t::geometry::LineSet::RemovePointAttr ( const std::string & key )

inline

Removes point attribute by key value. Primary attribute "positions" cannot be removed. Throws warning if attribute key does not exists.

Parameters

key	Attribute name.

◆ Rotate()

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

Rotates the points and lines of the line set. Custom attributes (e.g.: point or line normals) are not transformed.

Parameters

R	Rotation [Tensor of shape {3,3}].
center	Center [Tensor of shape {3}] about which the LineSet is to be scaled.

Returns: Rotated line set.

◆ Scale()

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

Scales the points and lines of the LineSet.

Parameters

scale	Scale magnitude.
center	Center [Tensor of shape {3}] about which the LineSet is

Returns: Scaled line set.

◆ SetLineAttr()

void open3d::t::geometry::LineSet::SetLineAttr	(	const std::string &	key,
		const core::Tensor &	value
	)

inline

Set line 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 tensor.

◆ SetLineColors()

void open3d::t::geometry::LineSet::SetLineColors ( const core::Tensor & value )

inline

Set the value of the "colors" attribute in line_attr_. This is a convenience function.

◆ SetLineIndices()

void open3d::t::geometry::LineSet::SetLineIndices ( const core::Tensor & value )

inline

Set the value of the "indices" attribute in line_attr_.

◆ SetPointAttr()

void open3d::t::geometry::LineSet::SetPointAttr	(	const std::string &	key,
		const core::Tensor &	value
	)

inline

Set point 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 tensor.

◆ SetPointPositions()

void open3d::t::geometry::LineSet::SetPointPositions ( const core::Tensor & value )

inline

Set the value of the "positions" attribute in point_attr_. Convenience function.

◆ To()

LineSet open3d::t::geometry::LineSet::To	(	const core::Device &	device,
		bool	copy = `false`
	)		const

Transfer the line set to a specified device.

Parameters

device	The targeted device to convert to.
copy	If true, a new line set is always created; if false, the copy is avoided when the original line set is already on the targeted device.

◆ ToLegacy()

open3d::geometry::LineSet open3d::t::geometry::LineSet::ToLegacy ( ) const

Convert to a legacy Open3D LineSet.

◆ ToString()

std::string open3d::t::geometry::LineSet::ToString ( ) const

Text description.

◆ Transform()

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

Transforms the points and lines of the LineSet.

Custom attributes (e.g.: point or line normals) are not transformed.

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'

Parameters

transformation Transformation [Tensor of shape {4,4}].

Returns: Transformed line set.

◆ Translate()

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

Translates the points and lines of the LineSet.

Parameters

translation	Translation tensor of shape {3}
relative	If true (default) translates relative to center of LineSet.

Returns: Translated line set.

Field Documentation

◆ device_

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

protected

◆ line_attr_

TensorMap open3d::t::geometry::LineSet::line_attr_

protected

◆ point_attr_

TensorMap open3d::t::geometry::LineSet::point_attr_

protected

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

/home/runner/work/Open3D/Open3D/cpp/open3d/t/geometry/LineSet.h (9238339 (Tue Mar 14 18:49:09 2023 -0700))
/home/runner/work/Open3D/Open3D/cpp/open3d/t/geometry/LineSet.cpp (9238339 (Tue Mar 14 18:49:09 2023 -0700))

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LineSet() [1/2]

◆ LineSet() [2/2]

◆ ~LineSet()

Member Function Documentation

◆ Clear()

◆ Clone()

◆ ExtrudeLinear()

◆ ExtrudeRotation()

◆ FromLegacy()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetDevice()

◆ GetLineAttr() [1/4]

◆ GetLineAttr() [2/4]

◆ GetLineAttr() [3/4]

◆ GetLineAttr() [4/4]

◆ GetLineColors() [1/2]

◆ GetLineColors() [2/2]

◆ GetLineIndices() [1/2]

◆ GetLineIndices() [2/2]

◆ GetMaxBound()

◆ GetMinBound()

◆ GetOrientedBoundingBox()

◆ GetPointAttr() [1/4]

◆ GetPointAttr() [2/4]

◆ GetPointAttr() [3/4]

◆ GetPointAttr() [4/4]

◆ GetPointPositions() [1/2]

◆ GetPointPositions() [2/2]

◆ HasLineAttr()

◆ HasLineColors()

◆ HasLineIndices()

◆ HasPointAttr()

◆ HasPointPositions()

◆ IsEmpty()

◆ RemoveLineAttr()

◆ RemovePointAttr()

◆ Rotate()

◆ Scale()

◆ SetLineAttr()

◆ SetLineColors()

◆ SetLineIndices()

◆ SetPointAttr()

◆ SetPointPositions()

◆ To()

◆ ToLegacy()

◆ ToString()

◆ Transform()

◆ Translate()

Field Documentation

◆ device_

◆ line_attr_

◆ point_attr_