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FieldBase
Field Base class.
This class defines the fields that are included in each point data of the point cloud and provides their indexing.
Examples:
(10, 2)
PointCloud
Point cloud class.
This class has a two-dimensional numpy array representing the point cloud, and accesses the elements in the array by means of fields.
Examples:
In this example, you can use the field to extract only the point sequence from a point cloud with points and colors.
__init__(self, data=[], field=<p3dpy.pointcloud.PointXYZField object at 0x7efe5c8b20d0>)
special
Constructor
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
data |
list or np.ndarray |
2D ndarray or list of 1D ndarray. Each row represents one point of the point cloud. Each column represents one scalar field associated to its corresponding point. |
[] |
field |
FieldBase |
The field of data contained in each point. |
<p3dpy.pointcloud.PointXYZField object at 0x7efe5c8b20d0> |
compute_normals(self, radius)
Compute normal vectors.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
radius |
float |
Radius of the surrounding points used for normal calculation. |
required |
voxel_grid_filter(pc, voxel_size)
Voxel grid filter
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
pc |
PointCloud |
Input point cloud. |
required |
voxel_size |
float |
The length of one side of the voxel. |
required |
Returns:
| Type | Description |
|---|---|
PointCloud |
Voxel-averaged point cloud. |
RGBDImage
pointcloud(self, intrinsic, extrinsic=array([[1., 0., 0., 0.],[0., 1., 0., 0.],[0., 0., 1., 0.],[0., 0., 0., 1.]]))
Pointcloud from RGBD Image.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
intrinsic |
ndarray |
Camera intrinsic parameters. |
required |
extrinsic |
ndarray |
Camera extrinsic parameters. |
array([[1., 0., 0., 0.],
[0., 1., 0., 0.],
[0., 0., 1., 0.],
[0., 0., 0., 1.]]) |
Returns:
| Type | Description |
|---|---|
PointCloud |
Pointcloud. |
load_pcd(fd)
Load PCD file format
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
fd |
Union[IO, str] |
Input file name or StringIO data type. |
required |
load_ply(fd)
Load PLY file format
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
fd |
Union[IO, str] |
Input file name or StringIO data type. |
required |
load_stl(fd, scale=1.0)
Load STL file format
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
fd |
Union[IO, str] |
Input file name or StringIO data type. |
required |