open3d.geometry.PointCloud¶

class open3d.geometry.PointCloud¶

PointCloud class. A point cloud consists of point coordinates, and optionally point colors and point normals.

class Type¶

Enum class for Geometry types.

HalfEdgeTriangleMesh = Type.HalfEdgeTriangleMesh¶

Image = Type.Image¶

LineSet = Type.LineSet¶

PointCloud = Type.PointCloud¶

TriangleMesh = Type.TriangleMesh¶

Unspecified = Type.Unspecified¶

VoxelGrid = Type.VoxelGrid¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: open3d.geometry.PointCloud) -> None

Default constructor

__init__(self: open3d.geometry.PointCloud, arg0: open3d.geometry.PointCloud) -> None

Copy constructor

clear(self)¶

Clear all elements in the geometry.

Returns: None

dimension(self)¶

Returns whether the geometry is 2D or 3D.

Returns: int

get_geometry_type(self)¶

Returns one of registered geometry types.

Returns: open3d.geometry.Geometry.GeometryType

get_max_bound(self)¶

Returns max bounds for geometry coordinates.

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

get_min_bound(self)¶

Returns min bounds for geometry coordinates.

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

has_colors(self)¶

Returns True if the point cloud contains point colors.

Returns: bool

has_normals(self)¶

Returns True if the point cloud contains point normals.

Returns: bool

has_points(self)¶

Returns True if the point cloud contains points.

Returns: bool

is_empty(self)¶

Returns True iff the geometry is empty.

Returns: bool

normalize_normals(self)¶

Normalize point normals to length 1.

Returns: None

paint_uniform_color(self, color)¶

Assigns each point in the PointCloud the same color.

Parameters: color (numpy.ndarray[float64[3, 1]]) – RGB color for the PointCloud.
Returns: None

rotate(self, rotation, center=True, type=RotationType.XYZ)¶

Apply rotation to the geometry coordinates and normals.

Parameters

rotation (numpy.ndarray[float64[3, 1]]) – A 3D vector that either defines the three angles for Euler rotation, or in the axis-angle representation the normalized vector defines the axis of rotation and the norm the angle around this axis.
center (bool, optional, default=True) – If true, then the rotation is applied to the centered geometry
type (open3d.geometry.RotationType, optional, default=RotationType.XYZ) – Type of rotation, i.e., an Euler format, or axis-angle.

Returns

open3d.geometry.Geometry3D

scale(self, scale, center=True)¶

Apply scaling to the geometry coordinates.

Parameters

scale (float) – The scale parameter that is multiplied to the points/vertices of the geometry
center (bool, optional, default=True) – If true, then the scale is applied to the centered geometry

Returns

open3d.geometry.Geometry3D

transform(self, arg0)¶

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

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

translate(self, arg0)¶

Apply translation to the geometry coordinates.

Parameters: arg0 (numpy.ndarray[float64[3, 1]]) –
Returns: open3d.geometry.Geometry3D

HalfEdgeTriangleMesh = Type.HalfEdgeTriangleMesh¶

Image = Type.Image¶

LineSet = Type.LineSet¶

PointCloud = Type.PointCloud¶

TriangleMesh = Type.TriangleMesh¶

Unspecified = Type.Unspecified¶

VoxelGrid = Type.VoxelGrid¶

property colors¶

RGB colors of points.

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

property normals¶

Points normals.

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

property points¶

Points coordinates.

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