Open3D (C++ API)  0.16.1
PointCloud.h
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26
27#pragma once
28
29#include <string>
30#include <unordered_map>
31#include <unordered_set>
32
33#include "open3d/core/Tensor.h"
45
46namespace open3d {
47namespace t {
48namespace geometry {
49
50class LineSet;
51
99class PointCloud : public Geometry, public DrawableGeometry {
100public:
104 PointCloud(const core::Device &device = core::Device("CPU:0"));
105
113
119 PointCloud(const std::unordered_map<std::string, core::Tensor>
120 &map_keys_to_tensors);
121
122 virtual ~PointCloud() override {}
123
125 std::string ToString() const;
126
128 const TensorMap &GetPointAttr() const { return point_attr_; }
129
132
136 core::Tensor &GetPointAttr(const std::string &key) {
137 return point_attr_.at(key);
138 }
139
141 core::Tensor &GetPointPositions() { return GetPointAttr("positions"); }
142
144 core::Tensor &GetPointColors() { return GetPointAttr("colors"); }
145
147 core::Tensor &GetPointNormals() { return GetPointAttr("normals"); }
148
152 const core::Tensor &GetPointAttr(const std::string &key) const {
153 return point_attr_.at(key);
154 }
155
158 return GetPointAttr("positions");
159 }
160
163 return GetPointAttr("colors");
164 }
165
168 return GetPointAttr("normals");
169 }
170
176 void SetPointAttr(const std::string &key, const core::Tensor &value) {
177 if (value.GetDevice() != device_) {
178 utility::LogError("Attribute device {} != Pointcloud's device {}.",
179 value.GetDevice().ToString(), device_.ToString());
180 }
181 point_attr_[key] = value;
182 }
183
185 void SetPointPositions(const core::Tensor &value) {
187 SetPointAttr("positions", value);
188 }
189
191 void SetPointColors(const core::Tensor &value) {
193 SetPointAttr("colors", value);
194 }
195
197 void SetPointNormals(const core::Tensor &value) {
199 SetPointAttr("normals", value);
200 }
201
206 bool HasPointAttr(const std::string &key) const {
207 return point_attr_.Contains(key) && GetPointAttr(key).GetLength() > 0 &&
208 GetPointAttr(key).GetLength() == GetPointPositions().GetLength();
209 }
210
215 void RemovePointAttr(const std::string &key) { point_attr_.Erase(key); }
216
219 bool HasPointPositions() const { return HasPointAttr("positions"); }
220
226 bool HasPointColors() const { return HasPointAttr("colors"); }
227
233 bool HasPointNormals() const { return HasPointAttr("normals"); }
234
235public:
241 PointCloud To(const core::Device &device, bool copy = false) const;
242
244 PointCloud Clone() const;
245
247 PointCloud &Clear() override {
248 point_attr_.clear();
249 return *this;
250 }
251
253 bool IsEmpty() const override { return !HasPointPositions(); }
254
257
260
262 core::Tensor GetCenter() const;
263
269 PointCloud Append(const PointCloud &other) const;
270
273 PointCloud operator+(const PointCloud &other) const {
274 return Append(other);
275 }
276
296 PointCloud &Transform(const core::Tensor &transformation);
297
303 PointCloud &Translate(const core::Tensor &translation,
304 bool relative = true);
305
311 PointCloud &Scale(double scale, const core::Tensor &center);
312
319 PointCloud &Rotate(const core::Tensor &R, const core::Tensor &center);
320
326
333 PointCloud SelectByMask(const core::Tensor &boolean_mask,
334 bool invert = false) const;
335
345 bool invert = false,
346 bool remove_duplicates = false) const;
347
351 PointCloud VoxelDownSample(double voxel_size,
352 const core::HashBackendType &backend =
354
360 PointCloud UniformDownSample(size_t every_k_points) const;
361
367 PointCloud RandomDownSample(double sampling_ratio) const;
368
376 PointCloud FarthestPointDownSample(size_t num_samples) const;
377
385 std::tuple<PointCloud, core::Tensor> RemoveRadiusOutliers(
386 size_t nb_points, double search_radius) const;
387
395 std::tuple<PointCloud, core::Tensor> RemoveStatisticalOutliers(
396 size_t nb_neighbors, double std_ratio) const;
397
402 std::tuple<PointCloud, core::Tensor> RemoveDuplicatedPoints() const;
403
411 std::tuple<PointCloud, core::Tensor> RemoveNonFinitePoints(
412 bool remove_nan = true, bool remove_infinite = true) const;
413
415 core::Device GetDevice() const override { return device_; }
416
432 std::tuple<TriangleMesh, core::Tensor> HiddenPointRemoval(
433 const core::Tensor &camera_location, double radius) const;
434
447 core::Tensor ClusterDBSCAN(double eps,
448 size_t min_points,
449 bool print_progress = false) const;
450
463 std::tuple<core::Tensor, core::Tensor> SegmentPlane(
464 const double distance_threshold = 0.01,
465 const int ransac_n = 3,
466 const int num_iterations = 100,
467 const double probability = 0.99999999) const;
468
483 TriangleMesh ComputeConvexHull(bool joggle_inputs = false) const;
484
495 std::tuple<PointCloud, core::Tensor> ComputeBoundaryPoints(
496 double radius,
497 int max_nn = 30,
498 double angle_threshold = 90.0) const;
499
500public:
503
515 void EstimateNormals(
516 const utility::optional<int> max_nn = 30,
518
524 const core::Tensor &orientation_reference =
525 core::Tensor::Init<float>({0, 0, 1},
526 core::Device("CPU:0")));
527
533 const core::Tensor &camera_location = core::Tensor::Zeros(
534 {3}, core::Float32, core::Device("CPU:0")));
535
543
558 const utility::optional<int> max_nn = 30,
560
561public:
587 const Image &depth,
588 const core::Tensor &intrinsics,
589 const core::Tensor &extrinsics =
591 float depth_scale = 1000.0f,
592 float depth_max = 3.0f,
593 int stride = 1,
594 bool with_normals = false);
595
622 const RGBDImage &rgbd_image,
623 const core::Tensor &intrinsics,
624 const core::Tensor &extrinsics =
626 float depth_scale = 1000.0f,
627 float depth_max = 3.0f,
628 int stride = 1,
629 bool with_normals = false);
630
632 static PointCloud FromLegacy(
633 const open3d::geometry::PointCloud &pcd_legacy,
635 const core::Device &device = core::Device("CPU:0"));
636
639
642 int width,
643 int height,
644 const core::Tensor &intrinsics,
645 const core::Tensor &extrinsics =
647 float depth_scale = 1000.0f,
648 float depth_max = 3.0f);
649
652 int width,
653 int height,
654 const core::Tensor &intrinsics,
655 const core::Tensor &extrinsics =
657 float depth_scale = 1000.0f,
658 float depth_max = 3.0f);
659
662
669 bool invert = false) const;
670
679 LineSet ExtrudeRotation(double angle,
680 const core::Tensor &axis,
681 int resolution = 16,
682 double translation = 0.0,
683 bool capping = true) const;
684
690 LineSet ExtrudeLinear(const core::Tensor &vector,
691 double scale = 1.0,
692 bool capping = true) const;
693
694protected:
697};
698
699} // namespace geometry
700} // namespace t
701} // namespace open3d
math::float4 color
Definition: LineSetBuffers.cpp:64
#define LogError(...)
Definition: Logging.h:67
#define AssertTensorShape(tensor,...)
Definition: TensorCheck.h:77
size_t stride
Definition: TriangleMeshBuffers.cpp:184
bool copy
Definition: VtkUtils.cpp:89
Definition: Device.h:37
std::string ToString() const
Returns string representation of device, e.g. "CPU:0", "CUDA:0".
Definition: Device.cpp:107
Definition: Dtype.h:39
Definition: Tensor.h:51
int64_t GetLength() const
Definition: Tensor.h:1130
static Tensor Zeros(const SizeVector &shape, Dtype dtype, const Device &device=Device("CPU:0"))
Create a tensor fill with zeros.
Definition: Tensor.cpp:392
Device GetDevice() const override
Definition: Tensor.cpp:1384
static Tensor Eye(int64_t n, Dtype dtype, const Device &device)
Create an identity matrix of size n x n.
Definition: Tensor.cpp:404
A bounding box that is aligned along the coordinate axes.
Definition: BoundingVolume.h:155
The Image class stores image with customizable width, height, num of channels and bytes per channel.
Definition: Image.h:53
LineSet define a sets of lines in 3D. A typical application is to display the point cloud corresponde...
Definition: LineSet.h:48
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:55
RGBDImage is for a pair of registered color and depth images,.
Definition: RGBDImage.h:46
Mix-in class for geometry types that can be visualized.
Definition: DrawableGeometry.h:38
The base geometry class.
Definition: Geometry.h:42
A point cloud contains a list of 3D points.
Definition: PointCloud.h:99
std::tuple< PointCloud, core::Tensor > RemoveStatisticalOutliers(size_t nb_neighbors, double std_ratio) const
Remove points that are further away from their nb_neighbor neighbors in average. This function is not...
Definition: PointCloud.cpp:404
TensorMap & GetPointAttr()
Getter for point_attr_ TensorMap.
Definition: PointCloud.h:131
bool HasPointAttr(const std::string &key) const
Definition: PointCloud.h:206
PointCloud & PaintUniformColor(const core::Tensor &color)
Assigns uniform color to the point cloud.
Definition: PointCloud.cpp:508
PointCloud UniformDownSample(size_t every_k_points) const
Downsamples a point cloud by selecting every kth index point and its attributes.
Definition: PointCloud.cpp:325
PointCloud & Rotate(const core::Tensor &R, const core::Tensor &center)
Rotates the PointPositions and PointNormals (if exists).
Definition: PointCloud.cpp:222
PointCloud & Clear() override
Clear all data in the point cloud.
Definition: PointCloud.h:247
std::tuple< core::Tensor, core::Tensor > SegmentPlane(const double distance_threshold=0.01, const int ransac_n=3, const int num_iterations=100, const double probability=0.99999999) const
Segment PointCloud plane using the RANSAC algorithm. This is a wrapper for a CPU implementation and a...
Definition: PointCloud.cpp:1122
const core::Tensor & GetPointNormals() const
Get the value of the "normals" attribute. Convenience function.
Definition: PointCloud.h:167
PointCloud Crop(const AxisAlignedBoundingBox &aabb, bool invert=false) const
Function to crop pointcloud into output pointcloud.
Definition: PointCloud.cpp:1214
TriangleMesh ComputeConvexHull(bool joggle_inputs=false) const
Definition: PointCloud.cpp:1144
std::tuple< PointCloud, core::Tensor > RemoveRadiusOutliers(size_t nb_points, double search_radius) const
Remove points that have less than nb_points neighbors in a sphere of a given radius.
Definition: PointCloud.cpp:376
std::tuple< PointCloud, core::Tensor > RemoveDuplicatedPoints() const
Remove duplicated points and there associated attributes.
Definition: PointCloud.cpp:466
geometry::RGBDImage ProjectToRGBDImage(int width, int height, const core::Tensor &intrinsics, const core::Tensor &extrinsics=core::Tensor::Eye(4, core::Float32, core::Device("CPU:0")), float depth_scale=1000.0f, float depth_max=3.0f)
Project a point cloud to an RGBD image.
Definition: PointCloud.cpp:976
core::Tensor & GetPointNormals()
Get the value of the "normals" attribute. Convenience function.
Definition: PointCloud.h:147
bool HasPointPositions() const
Definition: PointCloud.h:219
bool HasPointColors() const
Definition: PointCloud.h:226
PointCloud & Scale(double scale, const core::Tensor &center)
Scales the PointPositions of the PointCloud.
Definition: PointCloud.cpp:212
void EstimateNormals(const utility::optional< int > max_nn=30, const utility::optional< double > radius=utility::nullopt)
Function to estimate point normals. If the point cloud normals exist, the estimated normals are orien...
Definition: PointCloud.cpp:569
core::Device device_
Definition: PointCloud.h:695
PointCloud & NormalizeNormals()
Normalize point normals to length 1.
Definition: PointCloud.cpp:488
PointCloud To(const core::Device &device, bool copy=false) const
Definition: PointCloud.cpp:128
std::tuple< PointCloud, core::Tensor > ComputeBoundaryPoints(double radius, int max_nn=30, double angle_threshold=90.0) const
Compute the boundary points of a point cloud. The implementation is inspired by the PCL implementatio...
Definition: PointCloud.cpp:524
core::Device GetDevice() const override
Returns the device attribute of this PointCloud.
Definition: PointCloud.h:415
geometry::Image ProjectToDepthImage(int width, int height, const core::Tensor &intrinsics, const core::Tensor &extrinsics=core::Tensor::Eye(4, core::Float32, core::Device("CPU:0")), float depth_scale=1000.0f, float depth_max=3.0f)
Project a point cloud to a depth image.
Definition: PointCloud.cpp:959
core::Tensor & GetPointColors()
Get the value of the "colors" attribute. Convenience function.
Definition: PointCloud.h:144
void SetPointPositions(const core::Tensor &value)
Set the value of the "positions" attribute. Convenience function.
Definition: PointCloud.h:185
void SetPointColors(const core::Tensor &value)
Set the value of the "colors" attribute. Convenience function.
Definition: PointCloud.h:191
core::Tensor ClusterDBSCAN(double eps, size_t min_points, bool print_progress=false) const
Cluster PointCloud using the DBSCAN algorithm Ester et al., "A Density-Based Algorithm for Discoverin...
Definition: PointCloud.cpp:1110
TensorMap point_attr_
Definition: PointCloud.h:696
AxisAlignedBoundingBox GetAxisAlignedBoundingBox() const
Create an axis-aligned bounding box from attribute "positions".
Definition: PointCloud.cpp:1228
bool IsEmpty() const override
Returns !HasPointPositions().
Definition: PointCloud.h:253
PointCloud VoxelDownSample(double voxel_size, const core::HashBackendType &backend=core::HashBackendType::Default) const
Downsamples a point cloud with a specified voxel size.
Definition: PointCloud.cpp:296
const core::Tensor & GetPointPositions() const
Get the value of the "positions" attribute. Convenience function.
Definition: PointCloud.h:157
open3d::geometry::PointCloud ToLegacy() const
Convert to a legacy Open3D PointCloud.
Definition: PointCloud.cpp:1031
const core::Tensor & GetPointAttr(const std::string &key) const
Definition: PointCloud.h:152
PointCloud Append(const PointCloud &other) const
Definition: PointCloud.cpp:141
core::Tensor & GetPointAttr(const std::string &key)
Definition: PointCloud.h:136
PointCloud FarthestPointDownSample(size_t num_samples) const
Downsample a pointcloud into output pointcloud with a set of points has farthest distance.
Definition: PointCloud.cpp:368
void OrientNormalsToAlignWithDirection(const core::Tensor &orientation_reference=core::Tensor::Init< float >({0, 0, 1}, core::Device("CPU:0")))
Function to orient the normals of a point cloud.
Definition: PointCloud.cpp:663
core::Tensor GetMinBound() const
Returns the min bound for point coordinates.
Definition: PointCloud.cpp:116
PointCloud RandomDownSample(double sampling_ratio) const
Downsample a pointcloud by selecting random index point and its attributes.
Definition: PointCloud.cpp:343
static PointCloud CreateFromRGBDImage(const RGBDImage &rgbd_image, const core::Tensor &intrinsics, const core::Tensor &extrinsics=core::Tensor::Eye(4, core::Float32, core::Device("CPU:0")), float depth_scale=1000.0f, float depth_max=3.0f, int stride=1, bool with_normals=false)
Factory function to create a point cloud from an RGB-D image and a camera model.
Definition: PointCloud.cpp:932
static PointCloud CreateFromDepthImage(const Image &depth, const core::Tensor &intrinsics, const core::Tensor &extrinsics=core::Tensor::Eye(4, core::Float32, core::Device("CPU:0")), float depth_scale=1000.0f, float depth_max=3.0f, int stride=1, bool with_normals=false)
Factory function to create a point cloud from a depth image and a camera model.
Definition: PointCloud.cpp:902
virtual ~PointCloud() override
Definition: PointCloud.h:122
void EstimateColorGradients(const utility::optional< int > max_nn=30, const utility::optional< double > radius=utility::nullopt)
Function to compute point color gradients. If radius is provided, then HybridSearch is used,...
Definition: PointCloud.cpp:727
PointCloud Clone() const
Returns copy of the point cloud on the same device.
Definition: PointCloud.cpp:139
void RemovePointAttr(const std::string &key)
Definition: PointCloud.h:215
std::tuple< PointCloud, core::Tensor > RemoveNonFinitePoints(bool remove_nan=true, bool remove_infinite=true) const
Remove all points from the point cloud that have a nan entry, or infinite value. It also removes the ...
Definition: PointCloud.cpp:442
const TensorMap & GetPointAttr() const
Getter for point_attr_ TensorMap. Used in Pybind.
Definition: PointCloud.h:128
PointCloud & Transform(const core::Tensor &transformation)
Transforms the PointPositions and PointNormals (if exist) of the PointCloud.
Definition: PointCloud.cpp:187
std::string ToString() const
Text description.
Definition: PointCloud.cpp:90
PointCloud(const core::Device &device=core::Device("CPU:0"))
Definition: PointCloud.cpp:65
core::Tensor GetCenter() const
Returns the center for point coordinates.
Definition: PointCloud.cpp:124
static PointCloud FromLegacy(const open3d::geometry::PointCloud &pcd_legacy, core::Dtype dtype=core::Float32, const core::Device &device=core::Device("CPU:0"))
Create a PointCloud from a legacy Open3D PointCloud.
Definition: PointCloud.cpp:1008
LineSet ExtrudeLinear(const core::Tensor &vector, double scale=1.0, bool capping=true) const
Definition: PointCloud.cpp:1242
PointCloud operator+(const PointCloud &other) const
Definition: PointCloud.h:273
const core::Tensor & GetPointColors() const
Get the value of the "colors" attribute. Convenience function.
Definition: PointCloud.h:162
std::tuple< TriangleMesh, core::Tensor > HiddenPointRemoval(const core::Tensor &camera_location, double radius) const
This is an implementation of the Hidden Point Removal operator described in Katz et....
Definition: PointCloud.cpp:1084
void OrientNormalsTowardsCameraLocation(const core::Tensor &camera_location=core::Tensor::Zeros({3}, core::Float32, core::Device("CPU:0")))
Function to orient the normals of a point cloud.
Definition: PointCloud.cpp:690
core::Tensor GetMaxBound() const
Returns the max bound for point coordinates.
Definition: PointCloud.cpp:120
LineSet ExtrudeRotation(double angle, const core::Tensor &axis, int resolution=16, double translation=0.0, bool capping=true) const
Definition: PointCloud.cpp:1232
void OrientNormalsConsistentTangentPlane(size_t k)
Function to consistently orient estimated normals based on consistent tangent planes as described in ...
Definition: PointCloud.cpp:716
core::Tensor & GetPointPositions()
Get the value of the "positions" attribute. Convenience function.
Definition: PointCloud.h:141
void SetPointAttr(const std::string &key, const core::Tensor &value)
Definition: PointCloud.h:176
PointCloud SelectByIndex(const core::Tensor &indices, bool invert=false, bool remove_duplicates=false) const
Select points from input pointcloud, based on indices list into output point cloud.
Definition: PointCloud.cpp:261
PointCloud SelectByMask(const core::Tensor &boolean_mask, bool invert=false) const
Select points from input pointcloud, based on boolean mask indices into output point cloud.
Definition: PointCloud.cpp:235
void SetPointNormals(const core::Tensor &value)
Set the value of the "normals" attribute. Convenience function.
Definition: PointCloud.h:197
bool HasPointNormals() const
Definition: PointCloud.h:233
PointCloud & Translate(const core::Tensor &translation, bool relative=true)
Translates the PointPositions of the PointCloud.
Definition: PointCloud.cpp:198
Definition: TensorMap.h:50
std::size_t Erase(const std::string key)
Erase elements for the TensorMap by key value, if the key exists. If the key does not exists,...
Definition: TensorMap.h:111
bool Contains(const std::string &key) const
Definition: TensorMap.h:206
A triangle mesh contains vertices and triangles.
Definition: TriangleMesh.h:111
Definition: Optional.h:278
int width
Definition: FilePCD.cpp:71
int height
Definition: FilePCD.cpp:72
int points
Definition: FilePCD.cpp:73
HashBackendType
Definition: HashMap.h:39
const Dtype Float32
Definition: Dtype.cpp:61
constexpr nullopt_t nullopt
Definition: Optional.h:171
Definition: PinholeCameraIntrinsic.cpp:35