Data Structures
class	Geometry

class	Geometry2D

class	Geometry3D

class	HalfEdgeTriangleMesh

class	Image

class	KDTreeFlann

class	KDTreeSearchParam

class	KDTreeSearchParamHybrid

class	KDTreeSearchParamKNN

class	KDTreeSearchParamRadius

class	LineSet

class	Octree

class	OctreeColorLeafNode

class	OctreeInternalNode

class	OctreeLeafNode

class	OctreeNode

class	OctreeNodeInfo

class	PointCloud

class	Quadric

class	RGBDImage

class	TriangleMesh

class	TSDFVoxel

class	TSDFVoxelGrid

class	Voxel

class	VoxelGrid

Typedefs
typedef std::vector< std::shared_ptr< Image > >	ImagePyramid
	Typedef and functions for ImagePyramid. More...

typedef std::vector< std::shared_ptr< RGBDImage > >	RGBDImagePyramid
	Typedef and functions for RGBDImagePyramid. More...

Functions
std::shared_ptr< PointCloud >	SelectDownSample (const PointCloud &input, const std::vector< size_t > &indices, bool invert)

std::shared_ptr< TriangleMesh >	SelectDownSample (const TriangleMesh &input, const std::vector< size_t > &indices)

std::shared_ptr< PointCloud >	VoxelDownSample (const PointCloud &input, double voxel_size)

std::tuple< std::shared_ptr< PointCloud >, Eigen::MatrixXi >	VoxelDownSampleAndTrace (const PointCloud &input, double voxel_size, const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound, bool approximate_class)

std::shared_ptr< PointCloud >	UniformDownSample (const PointCloud &input, size_t every_k_points)

std::shared_ptr< PointCloud >	CropPointCloud (const PointCloud &input, const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound)

std::tuple< std::shared_ptr< PointCloud >, std::vector< size_t > >	RemoveRadiusOutliers (const PointCloud &input, size_t nb_points, double search_radius)

std::tuple< std::shared_ptr< PointCloud >, std::vector< size_t > >	RemoveStatisticalOutliers (const PointCloud &input, size_t nb_neighbors, double std_ratio)

std::shared_ptr< TriangleMesh >	CropTriangleMesh (const TriangleMesh &input, const Eigen::Vector3d &min_bound, const Eigen::Vector3d &max_bound)

bool	EstimateNormals (PointCloud &cloud, const KDTreeSearchParam &search_param)

bool	OrientNormalsToAlignWithDirection (PointCloud &cloud, const Eigen::Vector3d &orientation_reference)

bool	OrientNormalsTowardsCameraLocation (PointCloud &cloud, const Eigen::Vector3d &camera_location)

std::shared_ptr< HalfEdgeTriangleMesh >	CreateHalfEdgeMeshFromMesh (const TriangleMesh &mesh)

template<typename T >
T *	PointerAt (const Image &image, int u, int v)
	Function to access the raw data of a single-channel Image. More...

template float *	PointerAt< float > (const Image &image, int u, int v)

template int *	PointerAt< int > (const Image &image, int u, int v)

template uint8_t *	PointerAt< uint8_t > (const Image &image, int u, int v)

template uint16_t *	PointerAt< uint16_t > (const Image &image, int u, int v)

template<typename T >
T *	PointerAt (const Image &image, int u, int v, int ch)
	Function to access the raw data of a multi-channel Image. More...

template float *	PointerAt< float > (const Image &image, int u, int v, int ch)

template int *	PointerAt< int > (const Image &image, int u, int v, int ch)

template uint8_t *	PointerAt< uint8_t > (const Image &image, int u, int v, int ch)

template uint16_t *	PointerAt< uint16_t > (const Image &image, int u, int v, int ch)

std::shared_ptr< Image >	ConvertDepthToFloatImage (const Image &depth, double depth_scale, double depth_trunc)

void	ClipIntensityImage (Image &input, double min, double max)

void	LinearTransformImage (Image &input, double scale, double offset)

std::shared_ptr< Image >	DownsampleImage (const Image &input)
	Function to 2x image downsample using simple 2x2 averaging. More...

std::shared_ptr< Image >	FilterHorizontalImage (const Image &input, const std::vector< double > &kernel)

std::shared_ptr< Image >	FilterImage (const Image &input, Image::FilterType type)
	Function to filter image with pre-defined filtering type. More...

ImagePyramid	FilterImagePyramid (const ImagePyramid &input, Image::FilterType type)
	Function to filter image pyramid. More...

std::shared_ptr< Image >	FilterImage (const Image &input, const std::vector< double > &dx, const std::vector< double > &dy)
	Function to filter image with arbitrary dx, dy separable filters. More...

std::shared_ptr< Image >	FlipImage (const Image &input)

std::shared_ptr< Image >	DilateImage (const Image &input, int half_kernel_size=1)
	Function to dilate 8bit mask map. More...

std::shared_ptr< Image >	CreateDepthBoundaryMask (const Image &depth_image_input, double depth_threshold_for_discontinuity_check=0.1, int half_dilation_kernel_size_for_discontinuity_map=3)
	Function to create a depthmap boundary mask from depth image. More...

std::shared_ptr< Image >	CreateDepthToCameraDistanceMultiplierFloatImage (const camera::PinholeCameraIntrinsic &intrinsic)

std::shared_ptr< Image >	CreateFloatImageFromImage (const Image &image, Image::ColorToIntensityConversionType type=Image::ColorToIntensityConversionType::Weighted)
	Return a gray scaled float type image. More...

template<typename T >
std::shared_ptr< Image >	CreateImageFromFloatImage (const Image &input)

ImagePyramid	CreateImagePyramid (const Image &image, size_t num_of_levels, bool with_gaussian_filter=true)
	Function to create image pyramid. More...

template std::shared_ptr< Image >	CreateImageFromFloatImage< uint8_t > (const Image &input)

template std::shared_ptr< Image >	CreateImageFromFloatImage< uint16_t > (const Image &input)

bool	IntersectingAABBAABB (const Eigen::Vector3d &min0, const Eigen::Vector3d &max0, const Eigen::Vector3d &min1, const Eigen::Vector3d &max1)

bool	IntersectingTriangleTriangle3d (const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2, const Eigen::Vector3d &q0, const Eigen::Vector3d &q1, const Eigen::Vector3d &q2)

template int	KDTreeFlann::Search< Eigen::Vector3d > (const Eigen::Vector3d &query, const KDTreeSearchParam &param, std::vector< int > &indices, std::vector< double > &distance2) const

template int	KDTreeFlann::SearchKNN< Eigen::Vector3d > (const Eigen::Vector3d &query, int knn, std::vector< int > &indices, std::vector< double > &distance2) const

template int	KDTreeFlann::SearchRadius< Eigen::Vector3d > (const Eigen::Vector3d &query, double radius, std::vector< int > &indices, std::vector< double > &distance2) const

template int	KDTreeFlann::SearchHybrid< Eigen::Vector3d > (const Eigen::Vector3d &query, double radius, int max_nn, std::vector< int > &indices, std::vector< double > &distance2) const

template int	KDTreeFlann::Search< Eigen::VectorXd > (const Eigen::VectorXd &query, const KDTreeSearchParam &param, std::vector< int > &indices, std::vector< double > &distance2) const

template int	KDTreeFlann::SearchKNN< Eigen::VectorXd > (const Eigen::VectorXd &query, int knn, std::vector< int > &indices, std::vector< double > &distance2) const

template int	KDTreeFlann::SearchRadius< Eigen::VectorXd > (const Eigen::VectorXd &query, double radius, std::vector< int > &indices, std::vector< double > &distance2) const

template int	KDTreeFlann::SearchHybrid< Eigen::VectorXd > (const Eigen::VectorXd &query, double radius, int max_nn, std::vector< int > &indices, std::vector< double > &distance2) const

std::shared_ptr< LineSet >	CreateLineSetFromPointCloudCorrespondences (const PointCloud &cloud0, const PointCloud &cloud1, const std::vector< std::pair< int, int >> &correspondences)

std::shared_ptr< LineSet >	CreateLineSetFromTriangleMesh (const TriangleMesh &mesh)

std::vector< double >	ComputePointCloudToPointCloudDistance (const PointCloud &source, const PointCloud &target)

std::tuple< Eigen::Vector3d, Eigen::Matrix3d >	ComputePointCloudMeanAndCovariance (const PointCloud &input)

std::vector< double >	ComputePointCloudMahalanobisDistance (const PointCloud &input)

std::vector< double >	ComputePointCloudNearestNeighborDistance (const PointCloud &input)

std::shared_ptr< TriangleMesh >	ComputePointCloudConvexHull (const PointCloud &input)
	Function that computes the convex hull of the point cloud using qhull. More...

std::shared_ptr< PointCloud >	CreatePointCloudFromDepthImage (const Image &depth, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic=Eigen::Matrix4d::Identity(), double depth_scale=1000.0, double depth_trunc=1000.0, int stride=1)

std::shared_ptr< PointCloud >	CreatePointCloudFromRGBDImage (const RGBDImage &image, const camera::PinholeCameraIntrinsic &intrinsic, const Eigen::Matrix4d &extrinsic=Eigen::Matrix4d::Identity())

std::shared_ptr< TriangleMesh >	ComputeConvexHull (const std::vector< Eigen::Vector3d > &points)

RGBDImagePyramid	FilterRGBDImagePyramid (const RGBDImagePyramid &rgbd_image_pyramid, Image::FilterType type)

RGBDImagePyramid	CreateRGBDImagePyramid (const RGBDImage &rgbd_image, size_t num_of_levels, bool with_gaussian_filter_for_color, bool with_gaussian_filter_for_depth)

std::shared_ptr< RGBDImage >	CreateRGBDImageFromColorAndDepth (const Image &color, const Image &depth, double depth_scale=1000.0, double depth_trunc=3.0, bool convert_rgb_to_intensity=true)
	Factory function to create an RGBD Image from color and depth Images. More...

std::shared_ptr< RGBDImage >	CreateRGBDImageFromRedwoodFormat (const Image &color, const Image &depth, bool convert_rgb_to_intensity=true)
	Factory function to create an RGBD Image from Redwood dataset. More...

std::shared_ptr< RGBDImage >	CreateRGBDImageFromTUMFormat (const Image &color, const Image &depth, bool convert_rgb_to_intensity=true)
	Factory function to create an RGBD Image from TUM dataset. More...

std::shared_ptr< RGBDImage >	CreateRGBDImageFromSUNFormat (const Image &color, const Image &depth, bool convert_rgb_to_intensity=true)
	Factory function to create an RGBD Image from SUN3D dataset. More...

std::shared_ptr< RGBDImage >	CreateRGBDImageFromNYUFormat (const Image &color, const Image &depth, bool convert_rgb_to_intensity=true)
	Factory function to create an RGBD Image from NYU dataset. More...

std::shared_ptr< PointCloud >	SamplePointsUniformly (const TriangleMesh &input, size_t number_of_points, std::vector< double > &triangle_areas, double surface_area)

std::shared_ptr< PointCloud >	SamplePointsUniformly (const TriangleMesh &input, size_t number_of_points)
	Function to sample. More...

std::shared_ptr< PointCloud >	SamplePointsPoissonDisk (const TriangleMesh &input, size_t number_of_points, double init_factor, const std::shared_ptr< PointCloud > pcl_init)

template<typename F >
bool	OrientTriangleHelper (const std::vector< Eigen::Vector3i > &triangles, F &swap)

double	ComputeTriangleArea (const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)
	Function that computes the area of a mesh triangle. More...

Eigen::Vector4d	ComputeTrianglePlane (const Eigen::Vector3d &p0, const Eigen::Vector3d &p1, const Eigen::Vector3d &p2)

std::shared_ptr< TriangleMesh >	ComputeMeshConvexHull (const TriangleMesh &mesh)
	Function that computes the convex hull of the triangle mesh using qhull. More...

std::shared_ptr< TriangleMesh >	SubdivideMidpoint (const TriangleMesh &input, int number_of_iterations)

std::shared_ptr< TriangleMesh >	SubdivideLoop (const TriangleMesh &input, int number_of_iterations)

std::shared_ptr< TriangleMesh >	SimplifyVertexClustering (const TriangleMesh &input, double voxel_size, TriangleMesh::SimplificationContraction contraction=TriangleMesh::SimplificationContraction::Average)

std::shared_ptr< TriangleMesh >	SimplifyQuadricDecimation (const TriangleMesh &input, int target_number_of_triangles)

std::shared_ptr< TriangleMesh >	CreateMeshTetrahedron (double radius=1.0)

std::shared_ptr< TriangleMesh >	CreateMeshOctahedron (double radius=1.0)

std::shared_ptr< TriangleMesh >	CreateMeshIcosahedron (double radius=1.0)

std::shared_ptr< TriangleMesh >	CreateMeshBox (double width=1.0, double height=1.0, double depth=1.0)

std::shared_ptr< TriangleMesh >	CreateMeshSphere (double radius=1.0, int resolution=20)

std::shared_ptr< TriangleMesh >	CreateMeshCylinder (double radius=1.0, double height=2.0, int resolution=20, int split=4)

std::shared_ptr< TriangleMesh >	CreateMeshCone (double radius=1.0, double height=2.0, int resolution=20, int split=1)

std::shared_ptr< TriangleMesh >	CreateMeshTorus (double torus_radius=1.0, double tube_radius=0.5, int radial_resolution=30, int tubular_resolution=20)

std::shared_ptr< TriangleMesh >	CreateMeshArrow (double cylinder_radius=1.0, double cone_radius=1.5, double cylinder_height=5.0, double cone_height=4.0, int resolution=20, int cylinder_split=4, int cone_split=1)

std::shared_ptr< TriangleMesh >	CreateMeshCoordinateFrame (double size=1.0, const Eigen::Vector3d &origin=Eigen::Vector3d(0.0, 0.0, 0.0))

std::shared_ptr< TriangleMesh >	CreateMeshMoebius (int length_split=70, int width_split=15, int twists=1, double radius=1, double flatness=1, double width=1, double scale=1)

std::shared_ptr< VoxelGrid >	CreateSurfaceVoxelGridFromPointCloud (const PointCloud &input, double voxel_size)

Typedef Documentation

◆ ImagePyramid

typedef std::vector<std::shared_ptr<Image> > open3d::geometry::ImagePyramid

Typedef and functions for ImagePyramid.

◆ RGBDImagePyramid

typedef std::vector<std::shared_ptr<RGBDImage> > open3d::geometry::RGBDImagePyramid

Typedef and functions for RGBDImagePyramid.

Function Documentation

◆ ClipIntensityImage()

void open3d::geometry::ClipIntensityImage	(	Image &	input,
		double	min = `0.0`,
		double	max = `1.0`
	)

Function to clipping pixel intensities min is lower bound max is upper bound

◆ ComputeConvexHull()

std::shared_ptr< TriangleMesh > open3d::geometry::ComputeConvexHull ( const std::vector< Eigen::Vector3d > & points )

◆ ComputeMeshConvexHull()

std::shared_ptr< TriangleMesh > open3d::geometry::ComputeMeshConvexHull ( const TriangleMesh & mesh )

Function that computes the convex hull of the triangle mesh using qhull.

◆ ComputePointCloudConvexHull()

std::shared_ptr< TriangleMesh > open3d::geometry::ComputePointCloudConvexHull ( const PointCloud & input )

Function that computes the convex hull of the point cloud using qhull.

◆ ComputePointCloudMahalanobisDistance()

std::vector< double > open3d::geometry::ComputePointCloudMahalanobisDistance ( const PointCloud & input )

Function to compute the Mahalanobis distance for points in an

Parameters

input point cloud https://en.wikipedia.org/wiki/Mahalanobis_distance

◆ ComputePointCloudMeanAndCovariance()

std::tuple< Eigen::Vector3d, Eigen::Matrix3d > open3d::geometry::ComputePointCloudMeanAndCovariance ( const PointCloud & input )

Function to compute the mean and covariance matrix of an

Parameters

input point cloud

◆ ComputePointCloudNearestNeighborDistance()

std::vector< double > open3d::geometry::ComputePointCloudNearestNeighborDistance ( const PointCloud & input )

Function to compute the distance from a point to its nearest neighbor in the

Parameters

input point cloud

◆ ComputePointCloudToPointCloudDistance()

std::vector< double > open3d::geometry::ComputePointCloudToPointCloudDistance	(	const PointCloud &	source,
		const PointCloud &	target
	)

Function to compute the point to point distances between point clouds

Parameters

source	is the first point cloud.
target	is the second point cloud.

Returns: the output distance. It has the same size as the number of points in

Parameters

source

◆ ComputeTriangleArea()

double open3d::geometry::ComputeTriangleArea	(	const Eigen::Vector3d &	p0,
		const Eigen::Vector3d &	p1,
		const Eigen::Vector3d &	p2
	)

Function that computes the area of a mesh triangle.

◆ ComputeTrianglePlane()

Eigen::Vector4d open3d::geometry::ComputeTrianglePlane	(	const Eigen::Vector3d &	p0,
		const Eigen::Vector3d &	p1,
		const Eigen::Vector3d &	p2
	)

Function that computes the plane equation from the three points. If the three points are co-linear, then this function returns the invalid plane (0, 0, 0, 0).

◆ ConvertDepthToFloatImage()

std::shared_ptr< Image > open3d::geometry::ConvertDepthToFloatImage	(	const Image &	depth,
		double	depth_scale,
		double	depth_trunc
	)

◆ CreateDepthBoundaryMask()

std::shared_ptr< Image > open3d::geometry::CreateDepthBoundaryMask	(	const Image &	depth_image_input,
		double	depth_threshold_for_discontinuity_check,
		int	half_dilation_kernel_size_for_discontinuity_map
	)

Function to create a depthmap boundary mask from depth image.

◆ CreateDepthToCameraDistanceMultiplierFloatImage()

std::shared_ptr< Image > open3d::geometry::CreateDepthToCameraDistanceMultiplierFloatImage ( const camera::PinholeCameraIntrinsic & intrinsic )

Factory function to create a float image composed of multipliers that convert depth values into camera distances (ImageFactory.cpp) The multiplier function M(u,v) is defined as: M(u, v) = sqrt(1 + ((u - cx) / fx) ^ 2 + ((v - cy) / fy) ^ 2) This function is used as a convenient function for performance optimization in volumetric integration (see Core/Integration/TSDFVolume.h).

◆ CreateFloatImageFromImage()

std::shared_ptr< Image > open3d::geometry::CreateFloatImageFromImage	(	const Image &	image,
		Image::ColorToIntensityConversionType	type = `Image::ColorToIntensityConversionType::Weighted`
	)

Return a gray scaled float type image.

◆ CreateHalfEdgeMeshFromMesh()

std::shared_ptr< HalfEdgeTriangleMesh > open3d::geometry::CreateHalfEdgeMeshFromMesh ( const TriangleMesh & mesh )

◆ CreateImageFromFloatImage()

template<typename T >

std::shared_ptr< Image > open3d::geometry::CreateImageFromFloatImage ( const Image & input )

Function to change data types of image crafted for specific usage such as single channel float image -> 8-bit RGB or 16-bit depth image

◆ CreateImageFromFloatImage< uint16_t >()

template std::shared_ptr<Image> open3d::geometry::CreateImageFromFloatImage< uint16_t > ( const Image & input )

◆ CreateImageFromFloatImage< uint8_t >()

template std::shared_ptr<Image> open3d::geometry::CreateImageFromFloatImage< uint8_t > ( const Image & input )

◆ CreateImagePyramid()

ImagePyramid open3d::geometry::CreateImagePyramid	(	const Image &	image,
		size_t	num_of_levels,
		bool	with_gaussian_filter = `true`
	)

Function to create image pyramid.

◆ CreateLineSetFromPointCloudCorrespondences()

std::shared_ptr< LineSet > open3d::geometry::CreateLineSetFromPointCloudCorrespondences	(	const PointCloud &	cloud0,
		const PointCloud &	cloud1,
		const std::vector< std::pair< int, int >> &	correspondences
	)

Factory function to create a LineSet from two PointClouds (

Parameters

cloud0

◆ CreateLineSetFromTriangleMesh()

std::shared_ptr< LineSet > open3d::geometry::CreateLineSetFromTriangleMesh ( const TriangleMesh & mesh )

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

Parameters

mesh.

◆ CreateMeshArrow()

std::shared_ptr< TriangleMesh > open3d::geometry::CreateMeshArrow	(	double	cylinder_radius = `1.0`,
		double	cone_radius = `1.5`,
		double	cylinder_height = `5.0`,
		double	cone_height = `4.0`,
		int	resolution = `20`,
		int	cylinder_split = `4`,
		int	cone_split = `1`
	)

Factory function to create an arrow mesh (TriangleMeshFactory.cpp) The axis of the cone with

Parameters

cone_radius	will be along the z-axis. The cylinder with
cylinder_radius	is from (0, 0, 0) to (0, 0, cylinder_height), and the cone is from (0, 0, cylinder_height) to (0, 0, cylinder_height + cone_height). The cone will be split into
resolution	segments. The
cylinder_height	will be split into
cylinder_split	segments. The
cone_height	will be split into
cone_split	segments.

◆ CreateMeshBox()

std::shared_ptr< TriangleMesh > open3d::geometry::CreateMeshBox	(	double	width = `1.0`,
		double	height = `1.0`,
		double	depth = `1.0`
	)

Factory function to create a box mesh (TriangleMeshFactory.cpp) The left bottom corner on the front will be placed at (0, 0, 0). The

Parameters

width	is x-directional length, and
height	and
depth	are y- and z-directional lengths respectively.

◆ CreateMeshCone()

std::shared_ptr< TriangleMesh > open3d::geometry::CreateMeshCone	(	double	radius = `1.0`,
		double	height = `2.0`,
		int	resolution = `20`,
		int	split = `1`
	)

Factory function to create a cone mesh (TriangleMeshFactory.cpp) The axis of the cone will be from (0, 0, 0) to (0, 0,

Parameters

height).	The circle with
radius	will be split into
resolution	segments. The height will be split into
split	segments.

◆ CreateMeshCoordinateFrame()

std::shared_ptr< TriangleMesh > open3d::geometry::CreateMeshCoordinateFrame	(	double	size = `1.0`,
		const Eigen::Vector3d &	origin = `Eigen::Vector3d(0.0, 0.0, 0.0)`
	)

Factory function to create a coordinate frame mesh (TriangleMeshFactory.cpp) The coordinate frame will be centered at

Parameters

origin	The x, y, z axis will be rendered as red, green, and blue arrows respectively.
size	is the length of the axes.

◆ CreateMeshCylinder()

std::shared_ptr< TriangleMesh > open3d::geometry::CreateMeshCylinder	(	double	radius = `1.0`,
		double	height = `2.0`,
		int	resolution = `20`,
		int	split = `4`
	)

Factory function to create a cylinder mesh (TriangleMeshFactory.cpp) The axis of the cylinder will be from (0, 0, -height/2) to (0, 0, height/2). The circle with

Parameters

radius	will be split into
resolution	segments. The
height	will be split into
split	segments.

◆ CreateMeshIcosahedron()

std::shared_ptr< TriangleMesh > open3d::geometry::CreateMeshIcosahedron ( double radius = 1.0 )

Factory function to create a icosahedron mesh (trianglemeshfactory.cpp). the mesh centroid will be at (0,0,0) and

Parameters

radius defines the distance from the center to the mesh vertices.

◆ CreateMeshMoebius()

std::shared_ptr< TriangleMesh > open3d::geometry::CreateMeshMoebius	(	int	length_split = `70`,
		int	width_split = `15`,
		int	twists = `1`,
		double	radius = `1`,
		double	flatness = `1`,
		double	width = `1`,
		double	scale = `1`
	)

Factory function to create a Moebius strip.

Parameters

length_split	defines the number of segments along the Moebius strip,
width_split	defines the number of segments along the width of the Moebius strip,
twists	defines the number of twists of the strip,
radius	defines the radius of the Moebius strip,
flatness	controls the height of the strip,
width	controls the width of the Moebius strip and
scale	is used to scale the entire Moebius strip.

◆ CreateMeshOctahedron()

std::shared_ptr< TriangleMesh > open3d::geometry::CreateMeshOctahedron ( double radius = 1.0 )

Factory function to create a octahedron mesh (trianglemeshfactory.cpp). the mesh centroid will be at (0,0,0) and

Parameters

radius defines the distance from the center to the mesh vertices.

◆ CreateMeshSphere()

std::shared_ptr< TriangleMesh > open3d::geometry::CreateMeshSphere	(	double	radius = `1.0`,
		int	resolution = `20`
	)

Factory function to create a sphere mesh (TriangleMeshFactory.cpp) The sphere with

Parameters

radius	will be centered at (0, 0, 0). Its axis is aligned with z-axis. The longitudes will be split into
resolution	segments. The latitudes will be split into
resolution	* 2 segments.

◆ CreateMeshTetrahedron()

std::shared_ptr< TriangleMesh > open3d::geometry::CreateMeshTetrahedron ( double radius = 1.0 )

Factory function to create a tetrahedron mesh (trianglemeshfactory.cpp). the mesh centroid will be at (0,0,0) and

Parameters

radius defines the distance from the center to the mesh vertices.

◆ CreateMeshTorus()

std::shared_ptr< TriangleMesh > open3d::geometry::CreateMeshTorus	(	double	torus_radius = `1.0`,
		double	tube_radius = `0.5`,
		int	radial_resolution = `30`,
		int	tubular_resolution = `20`
	)

Factory function to create a torus mesh (TriangleMeshFactory.cpp) The torus will be centered at (0, 0, 0) and a radius of

Parameters

torus_radius.	The tube of the torus will have a radius of
tube_radius.	The number of segments in radial and tubular direction are
radial_resolution	and
tubular_resolution	respectively.

◆ CreatePointCloudFromDepthImage()

std::shared_ptr< PointCloud > open3d::geometry::CreatePointCloudFromDepthImage	(	const Image &	depth,
		const camera::PinholeCameraIntrinsic &	intrinsic,
		const Eigen::Matrix4d &	extrinsic = `Eigen::Matrix4d::Identity()`,
		double	depth_scale = `1000.0`,
		double	depth_trunc = `1000.0`,
		int	stride = `1`
	)

Factory function to create a pointcloud from a depth image and a camera model (PointCloudFactory.cpp) The input depth image can be either a float image, or a uint16_t image. In the latter case, the depth is scaled by 1 / depth_scale, and truncated at depth_trunc distance. The depth image is also sampled with stride, in order to support (fast) coarse point cloud extraction. Return an empty pointcloud if the conversion fails.

◆ CreatePointCloudFromRGBDImage()

std::shared_ptr< PointCloud > open3d::geometry::CreatePointCloudFromRGBDImage	(	const RGBDImage &	image,
		const camera::PinholeCameraIntrinsic &	intrinsic,
		const Eigen::Matrix4d &	extrinsic = `Eigen::Matrix4d::Identity()`
	)

Factory function to create a pointcloud from an RGB-D image and a camera model (PointCloudFactory.cpp) Return an empty pointcloud if the conversion fails.

◆ CreateRGBDImageFromColorAndDepth()

std::shared_ptr< RGBDImage > open3d::geometry::CreateRGBDImageFromColorAndDepth	(	const Image &	color,
		const Image &	depth,
		double	depth_scale = `1000.0`,
		double	depth_trunc = `3.0`,
		bool	convert_rgb_to_intensity = `true`
	)

Factory function to create an RGBD Image from color and depth Images.

◆ CreateRGBDImageFromNYUFormat()

std::shared_ptr< RGBDImage > open3d::geometry::CreateRGBDImageFromNYUFormat	(	const Image &	color,
		const Image &	depth,
		bool	convert_rgb_to_intensity = `true`
	)

Factory function to create an RGBD Image from NYU dataset.

Reference: http://cs.nyu.edu/~silberman/datasets/nyu_depth_v2.html.

◆ CreateRGBDImageFromRedwoodFormat()

std::shared_ptr< RGBDImage > open3d::geometry::CreateRGBDImageFromRedwoodFormat	(	const Image &	color,
		const Image &	depth,
		bool	convert_rgb_to_intensity
	)

Factory function to create an RGBD Image from Redwood dataset.

Reference: http://redwood-data.org/indoor/ File format: http://redwood-data.org/indoor/dataset.html

◆ CreateRGBDImageFromSUNFormat()

std::shared_ptr< RGBDImage > open3d::geometry::CreateRGBDImageFromSUNFormat	(	const Image &	color,
		const Image &	depth,
		bool	convert_rgb_to_intensity
	)

Factory function to create an RGBD Image from SUN3D dataset.

Reference: http://sun3d.cs.princeton.edu/ File format: https://github.com/PrincetonVision/SUN3DCppReader

◆ CreateRGBDImageFromTUMFormat()

std::shared_ptr< RGBDImage > open3d::geometry::CreateRGBDImageFromTUMFormat	(	const Image &	color,
		const Image &	depth,
		bool	convert_rgb_to_intensity
	)

Factory function to create an RGBD Image from TUM dataset.

Reference: http://vision.in.tum.de/data/datasets/rgbd-dataset File format: http://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats

◆ CreateRGBDImagePyramid()

RGBDImagePyramid open3d::geometry::CreateRGBDImagePyramid	(	const RGBDImage &	rgbd_image,
		size_t	num_of_levels,
		bool	with_gaussian_filter_for_color,
		bool	with_gaussian_filter_for_depth
	)

◆ CreateSurfaceVoxelGridFromPointCloud()

std::shared_ptr< VoxelGrid > open3d::geometry::CreateSurfaceVoxelGridFromPointCloud	(	const PointCloud &	input,
		double	voxel_size
	)

◆ CropPointCloud()

std::shared_ptr< PointCloud > open3d::geometry::CropPointCloud	(	const PointCloud &	input,
		const Eigen::Vector3d &	min_bound,
		const Eigen::Vector3d &	max_bound
	)

Function to crop

Parameters

input	pointcloud into output pointcloud All points with coordinates less than
min_bound	or larger than
max_bound	are clipped.

◆ CropTriangleMesh()

std::shared_ptr< TriangleMesh > open3d::geometry::CropTriangleMesh	(	const TriangleMesh &	input,
		const Eigen::Vector3d &	min_bound,
		const Eigen::Vector3d &	max_bound
	)

Function to crop

Parameters

input	tringlemesh into output tringlemesh All points with coordinates less than
min_bound	or larger than
max_bound	are clipped.

◆ DilateImage()

std::shared_ptr< Image > open3d::geometry::DilateImage	(	const Image &	input,
		int	half_kernel_size
	)

Function to dilate 8bit mask map.

◆ DownsampleImage()

std::shared_ptr< Image > open3d::geometry::DownsampleImage ( const Image & input )

Function to 2x image downsample using simple 2x2 averaging.

◆ EstimateNormals()

bool open3d::geometry::EstimateNormals	(	PointCloud &	cloud,
		const KDTreeSearchParam &	search_param = `KDTreeSearchParamKNN()`
	)

Function to compute the normals of a point cloud

Parameters

cloud	is the input point cloud. It also stores the output normals. Normals are oriented with respect to the input point cloud if normals exist in the input.
search_param	The KDTree search parameters

◆ FilterHorizontalImage()

std::shared_ptr< Image > open3d::geometry::FilterHorizontalImage	(	const Image &	input,
		const std::vector< double > &	kernel
	)

◆ FilterImage() [1/2]

std::shared_ptr< Image > open3d::geometry::FilterImage	(	const Image &	input,
		Image::FilterType	type
	)

Function to filter image with pre-defined filtering type.

◆ FilterImage() [2/2]

std::shared_ptr< Image > open3d::geometry::FilterImage	(	const Image &	input,
		const std::vector< double > &	dx,
		const std::vector< double > &	dy
	)

Function to filter image with arbitrary dx, dy separable filters.

◆ FilterImagePyramid()

ImagePyramid open3d::geometry::FilterImagePyramid	(	const ImagePyramid &	input,
		Image::FilterType	type
	)

Function to filter image pyramid.

◆ FilterRGBDImagePyramid()

RGBDImagePyramid open3d::geometry::FilterRGBDImagePyramid	(	const RGBDImagePyramid &	rgbd_image_pyramid,
		Image::FilterType	type
	)

◆ FlipImage()

std::shared_ptr< Image > open3d::geometry::FlipImage ( const Image & input )

◆ IntersectingAABBAABB()

bool open3d::geometry::IntersectingAABBAABB	(	const Eigen::Vector3d &	min0,
		const Eigen::Vector3d &	max0,
		const Eigen::Vector3d &	min1,
		const Eigen::Vector3d &	max1
	)

◆ IntersectingTriangleTriangle3d()

bool open3d::geometry::IntersectingTriangleTriangle3d	(	const Eigen::Vector3d &	p0,
		const Eigen::Vector3d &	p1,
		const Eigen::Vector3d &	p2,
		const Eigen::Vector3d &	q0,
		const Eigen::Vector3d &	q1,
		const Eigen::Vector3d &	q2
	)

◆ KDTreeFlann::Search< Eigen::Vector3d >()

template int open3d::geometry::KDTreeFlann::Search< Eigen::Vector3d >	(	const Eigen::Vector3d &	query,
		const KDTreeSearchParam &	param,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

◆ KDTreeFlann::Search< Eigen::VectorXd >()

template int open3d::geometry::KDTreeFlann::Search< Eigen::VectorXd >	(	const Eigen::VectorXd &	query,
		const KDTreeSearchParam &	param,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

◆ KDTreeFlann::SearchHybrid< Eigen::Vector3d >()

template int open3d::geometry::KDTreeFlann::SearchHybrid< Eigen::Vector3d >	(	const Eigen::Vector3d &	query,
		double	radius,
		int	max_nn,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

◆ KDTreeFlann::SearchHybrid< Eigen::VectorXd >()

template int open3d::geometry::KDTreeFlann::SearchHybrid< Eigen::VectorXd >	(	const Eigen::VectorXd &	query,
		double	radius,
		int	max_nn,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

◆ KDTreeFlann::SearchKNN< Eigen::Vector3d >()

template int open3d::geometry::KDTreeFlann::SearchKNN< Eigen::Vector3d >	(	const Eigen::Vector3d &	query,
		int	knn,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

◆ KDTreeFlann::SearchKNN< Eigen::VectorXd >()

template int open3d::geometry::KDTreeFlann::SearchKNN< Eigen::VectorXd >	(	const Eigen::VectorXd &	query,
		int	knn,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

◆ KDTreeFlann::SearchRadius< Eigen::Vector3d >()

template int open3d::geometry::KDTreeFlann::SearchRadius< Eigen::Vector3d >	(	const Eigen::Vector3d &	query,
		double	radius,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

◆ KDTreeFlann::SearchRadius< Eigen::VectorXd >()

template int open3d::geometry::KDTreeFlann::SearchRadius< Eigen::VectorXd >	(	const Eigen::VectorXd &	query,
		double	radius,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

◆ LinearTransformImage()

void open3d::geometry::LinearTransformImage	(	Image &	input,
		double	scale = `1.0`,
		double	offset = `0.0`
	)

Function to linearly transform pixel intensities image_new = scale * image + offset

◆ OrientNormalsToAlignWithDirection()

bool open3d::geometry::OrientNormalsToAlignWithDirection	(	PointCloud &	cloud,
		const Eigen::Vector3d &	orientation_reference = `Eigen::Vector3d(0.0, 0.0, 1.0)`
	)

Function to orient the normals of a point cloud

Parameters

cloud	is the input point cloud. It must have normals. Normals are oriented with respect to
orientation_reference

◆ OrientNormalsTowardsCameraLocation()

bool open3d::geometry::OrientNormalsTowardsCameraLocation	(	PointCloud &	cloud,
		const Eigen::Vector3d &	camera_location = `Eigen::Vector3d::Zero()`
	)

Function to orient the normals of a point cloud

Parameters

cloud	is the input point cloud. It also stores the output normals. Normals are oriented with towards
camera_location

◆ OrientTriangleHelper()

template<typename F >

bool open3d::geometry::OrientTriangleHelper	(	const std::vector< Eigen::Vector3i > &	triangles,
		F &	swap
	)

◆ PointerAt() [1/2]

template<typename T >

T * open3d::geometry::PointerAt	(	const Image &	image,
		int	u,
		int	v
	)

Function to access the raw data of a single-channel Image.

◆ PointerAt() [2/2]

template<typename T >

T * open3d::geometry::PointerAt	(	const Image &	image,
		int	u,
		int	v,
		int	ch
	)

Function to access the raw data of a multi-channel Image.

◆ PointerAt< float >() [1/2]

template float* open3d::geometry::PointerAt< float >	(	const Image &	image,
		int	u,
		int	v
	)

◆ PointerAt< float >() [2/2]

template float* open3d::geometry::PointerAt< float >	(	const Image &	image,
		int	u,
		int	v,
		int	ch
	)

◆ PointerAt< int >() [1/2]

template int* open3d::geometry::PointerAt< int >	(	const Image &	image,
		int	u,
		int	v
	)

◆ PointerAt< int >() [2/2]

template int* open3d::geometry::PointerAt< int >	(	const Image &	image,
		int	u,
		int	v,
		int	ch
	)

◆ PointerAt< uint16_t >() [1/2]

template uint16_t* open3d::geometry::PointerAt< uint16_t >	(	const Image &	image,
		int	u,
		int	v
	)

◆ PointerAt< uint16_t >() [2/2]

template uint16_t* open3d::geometry::PointerAt< uint16_t >	(	const Image &	image,
		int	u,
		int	v,
		int	ch
	)

◆ PointerAt< uint8_t >() [1/2]

template uint8_t* open3d::geometry::PointerAt< uint8_t >	(	const Image &	image,
		int	u,
		int	v
	)

◆ PointerAt< uint8_t >() [2/2]

template uint8_t* open3d::geometry::PointerAt< uint8_t >	(	const Image &	image,
		int	u,
		int	v,
		int	ch
	)

◆ RemoveRadiusOutliers()

std::tuple< std::shared_ptr< PointCloud >, std::vector< size_t > > open3d::geometry::RemoveRadiusOutliers	(	const PointCloud &	input,
		size_t	nb_points,
		double	search_radius
	)

Function to remove points that have less than

Parameters

nb_points	in a sphere of radius
search_radius

◆ RemoveStatisticalOutliers()

std::tuple< std::shared_ptr< PointCloud >, std::vector< size_t > > open3d::geometry::RemoveStatisticalOutliers	(	const PointCloud &	input,
		size_t	nb_neighbors,
		double	std_ratio
	)

Function to remove points that are further away from their

Parameters

nb_neighbor neighbors in average.

◆ SamplePointsPoissonDisk()

std::shared_ptr< PointCloud > open3d::geometry::SamplePointsPoissonDisk	(	const TriangleMesh &	input,
		size_t	number_of_points,
		double	init_factor = `5`,
		const std::shared_ptr< PointCloud >	pcl_init = `nullptr`
	)

Function to sample

Parameters

number_of_points	points (blue noise). Based on the method presented in Yuksel, "Sample Elimination for Generating Poisson Disk Sample Sets", EUROGRAPHICS, 2015 The PointCloud
pcl_init	is used for sample elimination if given, otherwise a PointCloud is first uniformly sampled with
init_number_of_points	x
number_of_points	number of points.

◆ SamplePointsUniformly() [1/2]

std::shared_ptr<PointCloud> open3d::geometry::SamplePointsUniformly	(	const TriangleMesh &	input,
		size_t	number_of_points,
		std::vector< double > &	triangle_areas,
		double	surface_area
	)

◆ SamplePointsUniformly() [2/2]

std::shared_ptr< PointCloud > open3d::geometry::SamplePointsUniformly	(	const TriangleMesh &	input,
		size_t	number_of_points
	)

Function to sample.

Parameters

number_of_points points uniformly from the mesh

◆ SelectDownSample() [1/2]

std::shared_ptr< PointCloud > open3d::geometry::SelectDownSample	(	const PointCloud &	input,
		const std::vector< size_t > &	indices,
		bool	invert = `false`
	)

Function to select points from

Parameters

input pointcloud into

Returns: output pointcloud Points with indices in

Parameters

indices are selected.

◆ SelectDownSample() [2/2]

std::shared_ptr< TriangleMesh > open3d::geometry::SelectDownSample	(	const TriangleMesh &	input,
		const std::vector< size_t > &	indices
	)

Function to select points from

Parameters

input TriangleMesh into

Returns: output TriangleMesh Vertices with indices in

Parameters

indices are selected.

◆ SimplifyQuadricDecimation()

std::shared_ptr< TriangleMesh > open3d::geometry::SimplifyQuadricDecimation	(	const TriangleMesh &	input,
		int	target_number_of_triangles
	)

Function to simplify mesh using Quadric Error Metric Decimation by Garland and Heckbert.

◆ SimplifyVertexClustering()

std::shared_ptr< TriangleMesh > open3d::geometry::SimplifyVertexClustering	(	const TriangleMesh &	input,
		double	voxel_size,
		TriangleMesh::SimplificationContraction	contraction = `TriangleMesh::SimplificationContraction::Average`
	)

Function to simplify mesh using Vertex Clustering. The result can be a non-manifold mesh.

◆ SubdivideLoop()

std::shared_ptr< TriangleMesh > open3d::geometry::SubdivideLoop	(	const TriangleMesh &	input,
		int	number_of_iterations
	)

Function to subdivide triangle mesh using Loop's scheme. Cf. Charles T. Loop, "Smooth subdivision surfaces based on triangles", 1987. Each triangle is subdivided into four triangles per iteration.

◆ SubdivideMidpoint()

std::shared_ptr< TriangleMesh > open3d::geometry::SubdivideMidpoint	(	const TriangleMesh &	input,
		int	number_of_iterations
	)

Function to subdivide triangle mesh using the simple midpoint algorithm. Each triangle is subdivided into four triangles per iteration and the new vertices lie on the midpoint of the triangle edges.

◆ UniformDownSample()

std::shared_ptr< PointCloud > open3d::geometry::UniformDownSample	(	const PointCloud &	input,
		size_t	every_k_points
	)

Function to downsample

Parameters

input	pointcloud into output pointcloud uniformly
every_k_points	indicates the sample rate.

◆ VoxelDownSample()

std::shared_ptr< PointCloud > open3d::geometry::VoxelDownSample	(	const PointCloud &	input,
		double	voxel_size
	)

Function to downsample

Parameters

input	pointcloud into output pointcloud with a voxel
voxel_size	defines the resolution of the voxel grid, smaller value leads to denser output point cloud. Normals and colors are averaged if they exist.

◆ VoxelDownSampleAndTrace()

std::tuple< std::shared_ptr< PointCloud >, Eigen::MatrixXi > open3d::geometry::VoxelDownSampleAndTrace	(	const PointCloud &	input,
		double	voxel_size,
		const Eigen::Vector3d &	min_bound,
		const Eigen::Vector3d &	max_bound,
		bool	approximate_class = `false`
	)

Function to downsample using VoxelDownSample, but specialized for Surface convolution project. Experimental function.

Data Structures

Typedefs

Functions

Typedef Documentation

◆ ImagePyramid

◆ RGBDImagePyramid

Function Documentation

◆ ClipIntensityImage()

◆ ComputeConvexHull()

◆ ComputeMeshConvexHull()

◆ ComputePointCloudConvexHull()

◆ ComputePointCloudMahalanobisDistance()

◆ ComputePointCloudMeanAndCovariance()

◆ ComputePointCloudNearestNeighborDistance()

◆ ComputePointCloudToPointCloudDistance()

◆ ComputeTriangleArea()

◆ ComputeTrianglePlane()

◆ ConvertDepthToFloatImage()

◆ CreateDepthBoundaryMask()

◆ CreateDepthToCameraDistanceMultiplierFloatImage()

◆ CreateFloatImageFromImage()

◆ CreateHalfEdgeMeshFromMesh()

◆ CreateImageFromFloatImage()

◆ CreateImageFromFloatImage< uint16_t >()

◆ CreateImageFromFloatImage< uint8_t >()

◆ CreateImagePyramid()

◆ CreateLineSetFromPointCloudCorrespondences()

◆ CreateLineSetFromTriangleMesh()

◆ CreateMeshArrow()

◆ CreateMeshBox()

◆ CreateMeshCone()

◆ CreateMeshCoordinateFrame()

◆ CreateMeshCylinder()

◆ CreateMeshIcosahedron()

◆ CreateMeshMoebius()

◆ CreateMeshOctahedron()

◆ CreateMeshSphere()

◆ CreateMeshTetrahedron()

◆ CreateMeshTorus()

◆ CreatePointCloudFromDepthImage()

◆ CreatePointCloudFromRGBDImage()

◆ CreateRGBDImageFromColorAndDepth()

◆ CreateRGBDImageFromNYUFormat()

◆ CreateRGBDImageFromRedwoodFormat()

◆ CreateRGBDImageFromSUNFormat()

◆ CreateRGBDImageFromTUMFormat()

◆ CreateRGBDImagePyramid()

◆ CreateSurfaceVoxelGridFromPointCloud()

◆ CropPointCloud()

◆ CropTriangleMesh()

◆ DilateImage()

◆ DownsampleImage()

◆ EstimateNormals()

◆ FilterHorizontalImage()

◆ FilterImage() [1/2]

◆ FilterImage() [2/2]

◆ FilterImagePyramid()

◆ FilterRGBDImagePyramid()

◆ FlipImage()

◆ IntersectingAABBAABB()

◆ IntersectingTriangleTriangle3d()

◆ KDTreeFlann::Search< Eigen::Vector3d >()

◆ KDTreeFlann::Search< Eigen::VectorXd >()

◆ KDTreeFlann::SearchHybrid< Eigen::Vector3d >()

◆ KDTreeFlann::SearchHybrid< Eigen::VectorXd >()

◆ KDTreeFlann::SearchKNN< Eigen::Vector3d >()

◆ KDTreeFlann::SearchKNN< Eigen::VectorXd >()

◆ KDTreeFlann::SearchRadius< Eigen::Vector3d >()

◆ KDTreeFlann::SearchRadius< Eigen::VectorXd >()

◆ LinearTransformImage()

◆ OrientNormalsToAlignWithDirection()

◆ OrientNormalsTowardsCameraLocation()

◆ OrientTriangleHelper()

◆ PointerAt() [1/2]

◆ PointerAt() [2/2]

◆ PointerAt< float >() [1/2]

◆ PointerAt< float >() [2/2]

◆ PointerAt< int >() [1/2]

◆ PointerAt< int >() [2/2]

◆ PointerAt< uint16_t >() [1/2]