open3d.geometry.LineSet¶

class open3d.geometry.LineSet¶

LineSet define a sets of lines in 3D. A typical application is to display the point cloud correspondence pairs.

class Type¶

Enum class for Geometry types.

HalfEdgeTriangleMesh = <Type.HalfEdgeTriangleMesh: 7>¶

Image = <Type.Image: 8>¶

LineSet = <Type.LineSet: 4>¶

PointCloud = <Type.PointCloud: 1>¶

RGBDImage = <Type.RGBDImage: 9>¶

TetraMesh = <Type.TetraMesh: 10>¶

TriangleMesh = <Type.TriangleMesh: 6>¶

Unspecified = <Type.Unspecified: 0>¶

VoxelGrid = <Type.VoxelGrid: 2>¶

property value¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: open3d.cpu.pybind.geometry.LineSet) -> None

Default constructor

__init__(self: open3d.cpu.pybind.geometry.LineSet, arg0: open3d.cpu.pybind.geometry.LineSet) -> None

Copy constructor

__init__(self: open3d.cpu.pybind.geometry.LineSet, points: open3d.cpu.pybind.utility.Vector3dVector, lines: open3d.cpu.pybind.utility.Vector2iVector) -> None

Create a LineSet from given points and line indices

clear(self)¶

Clear all elements in the geometry.

Returns: open3d.geometry.Geometry

static create_camera_visualization(*args, **kwargs)¶

Overloaded function.

create_camera_visualization(view_width_px: int, view_height_px: int, intrinsic: numpy.ndarray[numpy.float64[3, 3]], extrinsic: numpy.ndarray[numpy.float64[4, 4]], scale: float = 1.0) -> open3d.cpu.pybind.geometry.LineSet

Factory function to create a LineSet from intrinsic and extrinsic camera matrices

create_camera_visualization(intrinsic: open3d.cpu.pybind.camera.PinholeCameraIntrinsic, extrinsic: numpy.ndarray[numpy.float64[4, 4]], scale: float = 1.0) -> open3d.cpu.pybind.geometry.LineSet

Factory function to create a LineSet from intrinsic and extrinsic camera matrices

static create_from_axis_aligned_bounding_box(box)¶

Factory function to create a LineSet from an AxisAlignedBoundingBox.

Parameters: box (open3d.geometry.AxisAlignedBoundingBox) – The input bounding box.
Returns: open3d.geometry.LineSet

static create_from_oriented_bounding_box(box)¶

Factory function to create a LineSet from an OrientedBoundingBox.

Parameters: box (open3d.geometry.OrientedBoundingBox) – The input bounding box.
Returns: open3d.geometry.LineSet

static create_from_point_cloud_correspondences(cloud0, cloud1, correspondences)¶

Factory function to create a LineSet from two pointclouds and a correspondence set.

Parameters

cloud0 (open3d.geometry.PointCloud) – First point cloud.
cloud1 (open3d.geometry.PointCloud) – Second point cloud.
correspondences (List[Tuple[int, int]]) – Set of correspondences.

Returns

open3d.geometry.LineSet

static create_from_tetra_mesh(mesh)¶

Factory function to create a LineSet from edges of a tetra mesh.

Parameters: mesh (open3d.geometry.TetraMesh) – The input tetra mesh.
Returns: open3d.geometry.LineSet

static create_from_triangle_mesh(mesh)¶

Factory function to create a LineSet from edges of a triangle mesh.

Parameters: mesh (open3d.geometry.TriangleMesh) – The input triangle mesh.
Returns: open3d.geometry.LineSet

dimension(self)¶

Returns whether the geometry is 2D or 3D.

Returns: int

get_axis_aligned_bounding_box(self)¶

Returns an axis-aligned bounding box of the geometry.

Returns: open3d.geometry.AxisAlignedBoundingBox

get_center(self)¶

Returns the center of the geometry coordinates.

Returns: numpy.ndarray[numpy.float64[3, 1]]

get_geometry_type(self)¶

Returns one of registered geometry types.

Returns: open3d.geometry.Geometry.GeometryType

get_line_coordinate(self, line_index)¶

Parameters: line_index (int) – Index of the line.
Returns: Tuple[numpy.ndarray[numpy.float64[3, 1]], numpy.ndarray[numpy.float64[3, 1]]]

get_max_bound(self)¶

Returns max bounds for geometry coordinates.

Returns: numpy.ndarray[numpy.float64[3, 1]]

get_min_bound(self)¶

Returns min bounds for geometry coordinates.

Returns: numpy.ndarray[numpy.float64[3, 1]]

get_minimal_oriented_bounding_box(self: open3d.cpu.pybind.geometry.Geometry3D, robust: bool = False) → open3d::geometry::OrientedBoundingBox¶

Returns the minimal oriented bounding box for the geometry.

Creates the oriented bounding box with the smallest volume. The algorithm makes use of the fact that at least one edge of the convex hull must be collinear with an edge of the minimum bounding box: for each triangle in the convex hull, calculate the minimal axis aligned box in the frame of that triangle. at the end, return the box with the smallest volume

Parameters: robust (bool) – If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.
Returns: The oriented bounding box. The bounding box is oriented such that its volume is minimized.
Return type: open3d.geometry.OrientedBoundingBox

get_oriented_bounding_box(self: open3d.cpu.pybind.geometry.Geometry3D, robust: bool = False) → open3d::geometry::OrientedBoundingBox¶

Returns the oriented bounding box for the geometry.

Computes the oriented bounding box based on the PCA of the convex hull. The returned bounding box is an approximation to the minimal bounding box.

Parameters: robust (bool) – If set to true uses a more robust method which works in degenerate cases but introduces noise to the points coordinates.
Returns: The oriented bounding box. The bounding box is oriented such that the axes are ordered with respect to the principal components.
Return type: open3d.geometry.OrientedBoundingBox

static get_rotation_matrix_from_axis_angle(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_quaternion(rotation: numpy.ndarray[numpy.float64[4, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_xyz(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_xzy(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_yxz(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_yzx(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_zxy(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

static get_rotation_matrix_from_zyx(rotation: numpy.ndarray[numpy.float64[3, 1]]) → numpy.ndarray[numpy.float64[3, 3]]¶

has_colors(self)¶

Returns True if the object’s lines contain colors.

Returns: bool

has_lines(self)¶

Returns True if the object contains lines.

Returns: bool

has_points(self)¶

Returns True if the object contains points.

Returns: bool

is_empty(self)¶

Returns True iff the geometry is empty.

Returns: bool

paint_uniform_color(self, color)¶

Assigns each line in the line set the same color.

Parameters: color (numpy.ndarray[numpy.float64[3, 1]]) – Color for the LineSet.
Returns: open3d.geometry.LineSet

rotate(*args, **kwargs)¶

Overloaded function.

rotate(self, R)
Apply rotation to the geometry coordinates and normals.

Parameters: R (numpy.ndarray[numpy.float64[3, 3]]) – The rotation matrix
Returns: open3d.geometry.Geometry3D

rotate(self, R, center)
Apply rotation to the geometry coordinates and normals.

Parameters

R (numpy.ndarray[numpy.float64[3, 3]]) – The rotation matrix
center (numpy.ndarray[numpy.float64[3, 1]]) – Rotation center used for transformation.

Returns

open3d.geometry.Geometry3D

scale(*args, **kwargs)¶

Overloaded function.

scale(self, scale, center)
Apply scaling to the geometry coordinates.

Parameters

scale (float) – The scale parameter that is multiplied to the points/vertices of the geometry.
center (numpy.ndarray[numpy.float64[3, 1]]) – Scale center used for transformation.

Returns

open3d.geometry.Geometry3D

scale(self, scale, center)
Apply scaling to the geometry coordinates.

Parameters

scale (float) – The scale parameter that is multiplied to the points/vertices of the geometry.
center (numpy.ndarray[numpy.float64[3, 1]]) – Scale center used for transformation.

Returns

open3d.geometry.Geometry3D

transform(self, arg0)¶

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

Parameters: arg0 (numpy.ndarray[numpy.float64[4, 4]]) –
Returns: open3d.geometry.Geometry3D

translate(self, translation, relative=True)¶

Apply translation to the geometry coordinates.

Parameters

translation (numpy.ndarray[numpy.float64[3, 1]]) – A 3D vector to transform the geometry
relative (bool, optional, default=True) – If true, the translation vector is directly added to the geometry coordinates. Otherwise, the center is moved to the translation vector.

Returns

open3d.geometry.Geometry3D

HalfEdgeTriangleMesh = <Type.HalfEdgeTriangleMesh: 7>¶

Image = <Type.Image: 8>¶

LineSet = <Type.LineSet: 4>¶

PointCloud = <Type.PointCloud: 1>¶

RGBDImage = <Type.RGBDImage: 9>¶

TetraMesh = <Type.TetraMesh: 10>¶

TriangleMesh = <Type.TriangleMesh: 6>¶

Unspecified = <Type.Unspecified: 0>¶

VoxelGrid = <Type.VoxelGrid: 2>¶

property colors¶

RGB colors of lines.

Type: float64 array of shape (num_lines, 3), range [0, 1] , use numpy.asarray() to access data

property lines¶

Lines denoted by the index of points forming the line.

Type: int array of shape (num_lines, 2), use numpy.asarray() to access data

property points¶

Points coordinates.

Type: float64 array of shape (num_points, 3), use numpy.asarray() to access data