open3d.geometry

Classes

FilterScope

Members:

Geometry

The base geometry class.

Geometry2D

The base geometry class for 2D geometries.

Geometry3D

The base geometry class for 3D geometries.

HalfEdge

HalfEdge class contains vertex, triangle info about a half edge, as well as relations of next and twin half edge.

HalfEdgeTriangleMesh

HalfEdgeTriangleMesh inherits TriangleMesh class with the addition of HalfEdge data structure for each half edge in the mesh as well as related functions.

Image

The image class stores image with customizable width, height, num of channels and bytes per channel.

ImageFilterType

Enum class for Image filter types.

KDTreeFlann

KDTree with FLANN for nearest neighbor search.

KDTreeSearchParam

Base class for KDTree search parameters.

KDTreeSearchParamHybrid

KDTree search parameters for hybrid KNN and radius search.

KDTreeSearchParamKNN

KDTree search parameters for pure KNN search.

KDTreeSearchParamRadius

KDTree search parameters for pure radius search.

LineSet

LineSet define a sets of lines in 3D.

Octree

Octree datastructure.

OctreeColorLeafNode

OctreeColorLeafNode class is an OctreeLeafNode containing color.

OctreeInternalNode

OctreeInternalNode class, conataining OctreeNode children.

OctreeLeafNode

OctreeLeafNode base class.

OctreeNode

The base class for octree node.

OctreeNodeInfo

OctreeNode’s information.

PointCloud

PointCloud class.

RGBDImage

RGBDImage is for a pair of registered color and depth images, viewed from the same view, of the same resolution.

RotationType

Members:

SimplificationContraction

Members:

TriangleMesh

TriangleMesh class.

Voxel

Base Voxel class, containing grid id and color

VoxelGrid

VoxelGrid is a collection of voxels which are aligned in grid.

Functions

compute_mesh_convex_hull(input)

Computes the convex hull of the triangle mesh.

compute_point_cloud_convex_hull(input)

Computes the convex hull of the point cloud.

compute_point_cloud_mahalanobis_distance(input)

Function to compute the Mahalanobis distance for points in a point cloud.

compute_point_cloud_mean_and_covariance(input)

Function to compute the mean and covariance matrix of a point cloud.

compute_point_cloud_nearest_neighbor_distance(input)

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

compute_point_cloud_to_point_cloud_distance(…)

For each point in the source point cloud, compute the distance to the target point cloud.

create_half_edge_mesh_from_mesh(mesh)

Convert HalfEdgeTriangleMesh from TriangleMesh.

create_image_pyramid(image, num_of_levels, …)

Function to create ImagePyramid

create_line_set_from_point_cloud_correspondences(…)

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

create_line_set_from_triangle_mesh(mesh)

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

create_mesh_arrow([cylinder_radius, …])

Factory function to create an arrow mesh

create_mesh_box([width, height, depth])

Factory function to create a box.

create_mesh_cone([radius, height, …])

Factory function to create a cone mesh.

create_mesh_coordinate_frame([size, origin])

Factory function to create a coordinate frame mesh.

create_mesh_cylinder([radius, height, …])

Factory function to create a cylinder mesh.

create_mesh_icosahedron([radius])

Factory function to create a icosahedron.

create_mesh_moebius([length_split, …])

Factory function to create a Moebius strip.

create_mesh_octahedron([radius])

Factory function to create a octahedron.

create_mesh_sphere([radius, resolution])

Factory function to create a sphere mesh centered at (0, 0, 0).

create_mesh_tetrahedron([radius])

Factory function to create a tetrahedron.

create_mesh_torus([torus_radius, …])

Factory function to create a torus mesh.

create_point_cloud_from_depth_image(depth, …)

Factory function to create a pointcloud from a depth image and a camera.

create_point_cloud_from_rgbd_image(image, …)

Factory function to create a pointcloud from an RGB-D image and a camera.

create_rgbd_image_from_color_and_depth(…)

Function to make RGBDImage from color and depth image

create_rgbd_image_from_nyu_format(color, depth)

Function to make RGBDImage (for NYU format)

create_rgbd_image_from_redwood_format(color, …)

Function to make RGBDImage (for Redwood format)

create_rgbd_image_from_sun_format(color, depth)

Function to make RGBDImage (for SUN format)

create_rgbd_image_from_tum_format(color, depth)

Function to make RGBDImage (for TUM format)

create_surface_voxel_grid_from_point_cloud(…)

Function to make voxels from scanned point cloud

crop_point_cloud(input, min_bound, max_bound)

Function to crop input pointcloud into output pointcloud

crop_triangle_mesh(input, min_bound, max_bound)

Function to crop input triangle mesh into output triangle mesh

estimate_normals(cloud[, search_param])

Function to compute the normals of a point cloud.

filter_image(image, filter_type)

Function to filter Image

filter_image_pyramid(image_pyramid, filter_type)

Function to filter ImagePyramid

orient_normals_to_align_with_direction(cloud)

Function to orient the normals of a point cloud

orient_normals_towards_camera_location(cloud)

Function to orient the normals of a point cloud

radius_outlier_removal(input, nb_points, radius)

Function to remove points that have less than nb_points in a given sphere of a given radius

sample_points_poisson_disk(input, …[, …])

Function to sample points from the mesh, where each point has approximately the same distance to the neighbouring points (blue noise).

sample_points_uniformly(input[, …])

Function to uniformly sample points from the mesh.

select_down_sample(*args, **kwargs)

Overloaded function.

simplify_quadric_decimation(input, …)

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

simplify_vertex_clustering(input, voxel_size)

Function to simplify mesh using vertex clustering.

statistical_outlier_removal(input, …)

Function to remove points that are further away from their neighbors in average

subdivide_loop(input[, number_of_iterations])

Function subdivide mesh using Loop’s algorithm.

subdivide_midpoint(input[, number_of_iterations])

Function subdivide mesh using midpoint algorithm.

uniform_down_sample(input, every_k_points)

Function to downsample input pointcloud into output pointcloud uniformly.

voxel_down_sample(input, voxel_size)

Function to downsample input pointcloud into output pointcloud with a voxel

voxel_down_sample_and_trace(input, …[, …])

Function to downsample using geometry.VoxelDownSample also records point cloud index before downsampling