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:
- 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:
- 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]
, usenumpy.asarray()
to access data
- property lines#
Lines denoted by the index of points forming the line.
- Type:
int
array of shape(num_lines, 2)
, usenumpy.asarray()
to access data
- property points#
Points coordinates.
- Type:
float64
array of shape(num_points, 3)
, usenumpy.asarray()
to access data