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Pr\n-0002b320: 6f6a 6563 7420 6120 636f 6c6f 7265 6420 oject a colored \n-0002b330: 706f 696e 7420 636c 6f75 6420 746f 2061 point cloud to a\n-0002b340: 2052 4742 4420 696d 6167 652e 3c2f 703e RGBD image. Downsample \n-0002b590: 6120 706f 696e 7463 6c6f 7564 2062 7920 a pointcloud by \n-0002b5a0: 7365 6c65 6374 696e 6720 7261 6e64 6f6d selecting random\n-0002b5b0: 2069 6e64 6578 2070 6f69 6e74 2061 6e64 index point and\n-0002b5c0: 2069 7473 2061 7474 7269 6275 7465 732e its attributes.\n-0002b5d0: 3c2f 703e 0a3c 646c 2063 6c61 7373 3d22 <\n-0002b650: 7374 726f 6e67 3e73 616d 706c 696e 675f strong>sampling_\n-0002b660: 7261 7469 6f3c 2f73 7472 6f6e 673e 2028 ratio (\n-0002b670: 3c65 6d3e 666c 6f61 743c 2f65 6d3e 2920 float) \n-0002b680: e280 9320 5361 6d70 6c69 6e67 2072 6174 ... 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Tuple of filt\n-0002c820: 6572 6564 2070 6f69 6e74 2063 6c6f 7564 ered point cloud\n-0002c830: 2061 6e64 2062 6f6f 6c65 616e 206d 6173 and boolean mas\n-0002c840: 6b20 7465 6e73 6f72 2066 6f72 2073 656c k tensor for sel\n-0002c850: 6563 7465 6420 7661 6c75 6573 0a77 2e72 ected values.w.r\n-0002c860: 2e74 2e20 696e 7075 7420 706f 696e 7420 .t. input point \n-0002c870: 636c 6f75 642e 3c2f 703e 0a3c 2f64 643e cloud. Remo\n-0002cb20: 7665 2070 6f69 6e74 7320 7468 6174 2068 ve points that h\n-0002cb30: 6176 6520 6c65 7373 2074 6861 6e20 6e62 ave less than nb\n-0002cb40: 5f70 6f69 6e74 7320 6e65 6967 6862 6f72 _points neighbor\n-0002cb50: 7320 696e 2061 0a73 7068 6572 6520 6f66 s in a.sphere of\n-0002cb60: 2061 2067 6976 656e 2073 6561 7263 6820 a given search \n-0002cb70: 7261 6469 7573 2e3c 2f70 3e0a 3c64 6c20 radius..
..\n-0002ace0: 7769 6474 683a 3c2f 7370 616e 3e20 3c73 width: \n-0002ad00: 696e 742c 3c2f 7370 616e 3e20 3c73 7061 int, 1 \n-0002af50: 3c73 7061 6e20 636c 6173 733d 2270 7265 0], \n-0002af10: 5b30 3c2f 7370 616e 3e20 3c73 7061 6e20 [0 0.
\n-0002b770: 0a0a 3c64 6c20 636c 6173 733d 2270 7920 ...
..
open3d.cpu.py\n-0002b990: 6269 6e64 2e74 2e67 656f 6d65 7472 792e bind.t.geometry.\n-0002b9a0: 506f 696e 7443 6c6f 7564 3c2f 7370 616e PointCloud) →\n-0002ba20: 3b3c 2f73 7061 6e3e 203c 7370 616e 2063 ; tup\n-0002ba60: 6c65 3c2f 7370 616e 3e3c 7370 616e 2063 le[\n-0002bd70: 0a3c 6474 2063 6c61 7373 3d22 7369 6720 .
.. <\n-0002bed0: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>open3\n-0002bf70: 642e 6370 752e 7079 6269 6e64 2e74 2e67 d.cpu.pybind.t.g\n-0002bf80: 656f 6d65 7472 792e 506f 696e 7443 6c6f eometry.PointClo\n-0002bf90: 7564 3c2f 7370 616e 3e3c 2f61 3e3c 2f73 ud, remove_nan:\n-0002c020: 7370 616e 3e3c 2f73 7061 6e3e 3c73 7061 span> = <\n-0002c270: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n-0002c280: 3e54 7275 653c 2f73 7061 6e3e 3c2f 7370 >True\n-0002c2b0: 293c 2f73 7061 6e3e 203c 7370 616e 2063 ) \n-0002c2f0: 2623 7832 3139 323b 3c2f 7370 616e 3e20 → \n-0002c300: 3c73 7061 6e20 636c 6173 733d 2273 6967 tuple\n-0002c340: 3c73 7061 6e20 636c 6173 733d 2270 223e \n-0002c350: 3c73 7061 6e20 636c 6173 733d 2270 7265 [open3d.cpu\n-0002c400: 2e70 7962 696e 642e 742e 6765 6f6d 6574 .pybind.t.geomet\n-0002c410: 7279 2e50 6f69 6e74 436c 6f75 643c 2f73 ry.PointCloud, open3d.\n-0002c500: 6370 752e 7079 6269 6e64 2e63 6f72 652e cpu.pybind.core.\n-0002c510: 5465 6e73 6f72 3c2f 7370 616e 3e3c 2f61 Tensor]\n-0002c560: 3c61 2063 6c61 7373 3d22 6865 6164 6572 ..\n-0002c1e0: 626f 6f6c 3c2f 7370 616e 3e3c 2f73 7061 bool.
..
.
, <\n-0002c9e0: 7370 616e 2063 6c61 7373 3d22 6e22 3e3c span class=\"n\"><\n-0002c9f0: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n-0002ca00: 3e6e 625f 706f 696e 7473 3c2f 7370 616e >nb_points, <\n-0002ca20: 656d 2063 6c61 7373 3d22 7369 672d 7061 em class=\"sig-pa\n-0002ca30: 7261 6d22 3e3c 7370 616e 2063 6c61 7373 ram\">search_ra\n-0002ca60: 6469 7573 3c2f 7370 616e 3e3c 2f73 7061 dius)\n-0002ca90: 3c2f 7370 616e 3e3c 6120 636c 6173 733d ..<\n-0002cb10: 2f64 743e 0a3c 6464 3e3c 703e 5265 6d6f /dt>.\n-0002c9b0: 7365 6c66 3c2f 7370 616e 3e3c 2f73 7061 self.
.
nb_points<\n-0002cc20: 2f73 7472 6f6e 673e 2028 3c65 6d3e 696e /strong> (in\n-0002cc30: 743c 2f65 6d3e 2920 e280 9320 4e75 6d62 t) ... Numb\n-0002cc40: 6572 206f 6620 6e65 6967 6862 6f72 2070 er of neighbor p\n-0002cc50: 6f69 6e74 7320 7265 7175 6972 6564 2077 oints required w\n-0002cc60: 6974 6869 6e20 7468 6520 7261 6469 7573 ithin the radius\n-0002cc70: 2e3c 2f70 3e3c 2f6c 693e 0a3c 6c69 3e3c .
search_\n-0002cd50: 7261 6469 7573 3c2f 7374 726f 6e67 3e20 radius \n-0002cd60: e280 9320 5261 6469 7573 206f 6620 7468 ... Radius of th\n-0002cd70: 6520 7370 6865 7265 2e3c 2f70 3e3c 2f6c e sphere.
...<\n-0002cd90: 6474 2063 6c61 7373 3d22 6669 656c 642d dt class=\"field-\n-0002cda0: 6576 656e 223e 5265 7475 726e 733c 7370 even\">ReturnsTuple o\n-0002cdf0: 6620 6669 6c74 6572 6564 2070 6f69 6e74 f filtered point\n-0002ce00: 2063 6c6f 7564 2061 6e64 2062 6f6f 6c65 cloud and boole\n-0002ce10: 616e 206d 6173 6b20 7465 6e73 6f72 2066 an mask tensor f\n-0002ce20: 6f72 2073 656c 6563 7465 6420 7661 6c75 or selected valu\n-0002ce30: 6573 0a77 2e72 2e74 2e20 696e 7075 7420 es.w.r.t. input \n-0002ce40: 706f 696e 7420 636c 6f75 642e 3c2f 703e point cloud.
\n-0002ce50: 0a3c 2f64 643e 0a3c 6474 2063 6c61 7373 ..t\n-0002ceb0: 7570 6c65 5b6f 7065 6e33 642e 742e 6765 uple[open3d.t.ge\n-0002cec0: 6f6d 6574 7279 2e50 6f69 6e74 436c 6f75 ometry.PointClou\n-0002ced0: 642c 206f 7065 6e33 642e 636f 7265 2e54 d, open3d.core.T\n-0002cee0: 656e 736f 725d 3c2f 703e 0a3c 2f64 643e ensor]
.Remove points\n-0002d660: 2074 6861 7420 6172 6520 6675 7274 6865 that are furthe\n-0002d670: 7220 6177 6179 2066 726f 6d20 7468 6569 r away from thei\n-0002d680: 7220 7020 6e62 5f6e 6569 6768 626f 720a r p nb_neighbor.\n-0002d690: 6e65 6967 6862 6f72 7320 696e 2061 7665 neighbors in ave\n-0002d6a0: 7261 6765 2e20 5468 6973 2066 756e 6374 rage. This funct\n-0002d6b0: 696f 6e20 6973 206e 6f74 2072 6563 6f6d ion is not recom\n-0002d6c0: 6d65 6e64 6564 2074 6f20 7573 6520 6f6e mended to use on\n-0002d6d0: 2047 5055 2e3c 2f70 3e0a 3c64 6c20 636c GPU.
.Tuple of filt\n-0002d880: 6572 6564 2070 6f69 6e74 2063 6c6f 7564 ered point cloud\n-0002d890: 2061 6e64 2062 6f6f 6c65 616e 206d 6173 and boolean mas\n-0002d8a0: 6b20 7465 6e73 6f72 2066 6f72 2073 656c k tensor for sel\n-0002d8b0: 6563 7465 6420 7661 6c75 6573 0a77 2e72 ected values.w.r\n-0002d8c0: 2e74 2e20 696e 7075 7420 706f 696e 7420 .t. input point \n-0002d8d0: 636c 6f75 642e 3c2f 703e 0a3c 2f64 643e cloud.
.Rotate points\n-0002dfb0: 2061 6e64 206e 6f72 6d61 6c73 2028 6966 and normals (if\n-0002dfc0: 2065 7869 7374 292e 3c2f 703e 0a3c 2f64 exist).
...Scale po\n-0002e600: 696e 7473 2e3c 2f70 3e0a 3c2f 6464 3e3c ints.
.Segments\n-0002f170: 2061 2070 6c61 6e65 2069 6e20 7468 6520 a plane in the \n-0002f180: 706f 696e 7420 636c 6f75 6420 7573 696e point cloud usin\n-0002f190: 6720 7468 6520 5241 4e53 4143 2061 6c67 g the RANSAC alg\n-0002f1a0: 6f72 6974 686d 2e0a 5468 6973 2069 7320 orithm..This is \n-0002f1b0: 6120 7772 6170 7065 7220 666f 7220 6120 a wrapper for a \n-0002f1c0: 4350 5520 696d 706c 656d 656e 7461 7469 CPU implementati\n-0002f1d0: 6f6e 2061 6e64 2061 2063 6f70 7920 6f66 on and a copy of\n-0002f1e0: 2074 6865 2070 6f69 6e74 2063 6c6f 7564 the point cloud\n-0002f1f0: 2064 6174 6120 616e 640a 7265 7375 6c74 data and.result\n-0002f200: 696e 6720 706c 616e 6520 6d6f 6465 6c20 ing plane model \n-0002f210: 616e 6420 696e 6c69 6572 2069 6e64 6965 and inlier indie\n-0002f220: 6373 2077 696c 6c20 6265 206d 6164 652e cs will be made.\n-0002f230: 3c2f 703e 0a3c 646c 2063 6c61 7373 3d22
.d\n-0002f2d0: 6973 7461 6e63 655f 7468 7265 7368 6f6c istance_threshol\n-0002f2e0: 643c 2f73 7472 6f6e 673e 2028 3c65 6d3e d (\n-0002f2f0: 6465 6661 756c 7420 302e 3031 3c2f 656d default 0.01) ... Max dista\n-0002f310: 6e63 6520 6120 706f 696e 7420 6361 6e20 nce a point can \n-0002f320: 6265 2066 726f 6d20 7468 6520 706c 616e be from the plan\n-0002f330: 6520 6d6f 6465 6c2c 2061 6e64 2073 7469 e model, and sti\n-0002f340: 6c6c 2062 6520 636f 6e73 6964 6572 6564 ll be considered\n-0002f350: 2061 6e20 696e 6c69 6572 2e3c 2f70 3e3c an inlier.
<\n-0002f360: 2f6c 693e 0a3c 6c69 3e3c 703e 3c73 7472 /li>.num_\n-0002f400: 6974 6572 6174 696f 6e73 3c2f 7374 726f iterations (default\n-0002f420: 2031 3030 3c2f 656d 3e29 20e2 8093 204d 100) ... M\n-0002f430: 6178 696d 756d 206e 756d 6265 7220 6f66 aximum number of\n-0002f440: 2069 7465 7261 7469 6f6e 732e 3c2f 703e iterations.
\n-0002f450: 3c2f 6c69 3e0a 3c6c 693e 3c70 3e3c 7374Tuple o\n-0002f540: 6620 7468 6520 706c 616e 6520 6d6f 6465 f the plane mode\n-0002f550: 6c20 3c63 6974 653e 6178 202b 2062 7920 l ax + by \n-0002f560: 2b20 637a 202b 2064 203d 2030 3c2f 6369 + cz + d = 0 and the indi\n-0002f580: 6365 7320 6f66 0a74 6865 2070 6c61 6e65 ces of.the plane\n-0002f590: 2069 6e6c 6965 7273 206f 6e20 7468 6520 inliers on the \n-0002f5a0: 7361 6d65 2064 6576 6963 6520 6173 2074 same device as t\n-0002f5b0: 6865 2070 6f69 6e74 2063 6c6f 7564 2e3c he point cloud.<\n-0002f5c0: 2f70 3e0a 3c2f 6464 3e0a 3c2f 646c 3e0a /p>.
Example
.We use Redwood \n-0002f600: 6461 7461 7365 7420 746f 2063 6f6d 7075 dataset to compu\n-0002f610: 7465 2069 7473 2070 6c61 6e65 206d 6f64 te its plane mod\n-0002f620: 656c 2061 6e64 2069 6e6c 6965 7273 3a3c el and inliers:<\n-0002f630: 2f70 3e0a 3c64 6976 2063 6c61 7373 3d22 /p>.
sample_p\n-0002f6a0: 6364 5f64 6174 613c 2f73 7061 6e3e 203c cd_data <\n-0002f6b0: 7370 616e 2063 6c61 7373 3d22 6f22 3e3d span class=\"o\">=\n-0002f6c0: 3c2f 7370 616e 3e20 3c73 7061 6e20 636c o3d.data\n-0002f710: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>.PCD\n-0002f740: 506f 696e 7443 6c6f 7564 3c2f 7370 616e PointCloud ().pcd\n-0002f780: 7370 616e 3e20 3c73 7061 6e20 636c 6173 span> = <\n-0002f7a0: 7370 616e 2063 6c61 7373 3d22 6e22 3e6f span class=\"n\">o\n-0002f7b0: 3364 3c2f 7370 616e 3e3c 7370 616e 2063 3d.t.io.read_point_clo\n-0002f850: 7564 3c2f 7370 616e 3e3c 7370 616e 2063 ud(sample_pcd_data\n-0002f890: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 .<\n-0002f8b0: 7370 616e 2063 6c61 7373 3d22 6e22 3e70 span class=\"n\">p\n-0002f8c0: 6174 683c 2f73 7061 6e3e 3c73 7061 6e20 ath).plane_model\n-0002f900: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>,in\n-0002f930: 6c69 6572 733c 2f73 7061 6e3e 203c 7370 liers=\n-0002f950: 7370 616e 3e20 3c73 7061 6e20 636c 6173 span> pcd\n-0002f970: 3c73 7061 6e20 636c 6173 733d 226f 223e \n-0002f980: 2e3c 2f73 7061 6e3e 3c73 7061 6e20 636c .segment_\n-0002f9a0: 706c 616e 653c 2f73 7061 6e3e 3c73 7061 plane (distance_thr\n-0002f9e0: 6573 686f 6c64 3c2f 7370 616e 3e3c 7370 eshold =\n-0002fa00: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>0.01,. \n+0002a8d0: 7373 3d22 7072 6522 3e30 7833 6138 3936 ss=\"pre\">0x3a896\n+0002a8e0: 3334 305d 2c3c 2f73 7061 6e3e 203c 7370 340], d\n+0002a900: 6570 7468 5f73 6361 6c65 3a3c 2f73 7061 epth_scale: float = 1\n+0002a960: 3030 302e 302c 3c2f 7370 616e 3e20 3c73 000.0, \n+0002a980: 6465 7074 685f 6d61 783a 3c2f 7370 616e depth_max: float\n+0002a9b0: 203c 7370 616e 2063 6c61 7373 3d22 7072 =open3d.cpu.p\n+0002bc30: 7962 696e 642e 636f 7265 2e54 656e 736f ybind.core.Tenso\n+0002bc40: 723c 2f73 7061 6e3e 3c2f 613e 3c73 7061 r3.\n+0002a9e0: 303c 2f73 7061 6e3e 3c2f 656d 3e3c 7370 0 float =) →open3d:\n+0002aa90: 3a74 3a3a 6765 6f6d 6574 7279 3a3a 496d :t::geometry::Im\n+0002aaa0: 6167 653c 2f73 7061 6e3e 3c2f 7370 616e age..\n+0002ab30: 3c2f 6474 3e0a 3c64 643e 3c70 3e50 726f .\n+0002ab70: 646c 3e0a 0a3c 646c 2063 6c61 7373 3d22 dl>.. Pro\n+0002ab40: 6a65 6374 2061 2070 6f69 6e74 2063 6c6f ject a point clo\n+0002ab50: 7564 2074 6f20 6120 6465 7074 6820 696d ud to a depth im\n+0002ab60: 6167 652e 3c2f 703e 0a3c 2f64 643e 3c2f age.
..
- .project_to_\n+0002ac20: 7267 6264 5f69 6d61 6765 3c2f 7370 616e rgbd_image\n+0002ac50: 283c 2f73 7061 6e3e 3c65 6d20 636c 6173 (
\n+0002ac80: 7365 6c66 3a3c 2f73 7061 6e3e 203c 7370 self:Float32,<\n+0002b080: 2f73 7061 6e3e 203c 7370 616e 2063 6c61 /span> CPU:0,<\n+0002b0a0: 2f73 7061 6e3e 203c 7370 616e 2063 6c61 /span> 0x3a896\n+0002b0c0: 6337 305d 2c3c 2f73 7061 6e3e 203c 7370 c70],o\n+0002aca0: 7065 6e33 642e 6370 752e 7079 6269 6e64 pen3d.cpu.pybind\n+0002acb0: 2e74 2e67 656f 6d65 7472 792e 506f 696e .t.geometry.Poin\n+0002acc0: 7443 6c6f 7564 2c3c 2f73 7061 6e3e 203c tCloud, <\n+0002acd0: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n+0002ace0: 3e77 6964 7468 3a3c 2f73 7061 6e3e 203c >width: <\n+0002acf0: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n+0002ad00: 3e69 6e74 2c3c 2f73 7061 6e3e 203c 7370 >int, h\n+0002ad20: 6569 6768 743a 3c2f 7370 616e 3e20 3c73 eight: \n+0002ad40: 696e 742c 3c2f 7370 616e 3e20 3c73 7061 int,0 \n+0002afc0: 3c73 7061 6e20 636c 6173 733d 2270 7265 1]]in\n+0002ad60: 7472 696e 7369 6373 3a3c 2f73 7061 6e3e trinsics:\n+0002ad70: 203c 7370 616e 2063 6c61 7373 3d22 7072 open3d.cpu.py\n+0002ad90: 6269 6e64 2e63 6f72 652e 5465 6e73 6f72 bind.core.Tensor\n+0002ada0: 2c3c 2f73 7061 6e3e 203c 7370 616e 2063 , extri\n+0002adc0: 6e73 6963 733a 3c2f 7370 616e 3e20 3c73 nsics: 0], \n+0002ae90: 3c73 7061 6e20 636c 6173 733d 2270 7265 [0\n+0002ade0: 6f70 656e 3364 2e63 7075 2e70 7962 696e open3d.cpu.pybin\n+0002adf0: 642e 636f 7265 2e54 656e 736f 723c 2f73 d.core.Tensor= \n+0002ae20: 3c73 7061 6e20 636c 6173 733d 2270 7265 [[10\n+0002ae50: 3c2f 7370 616e 3e20 3c73 7061 6e20 636c 0 1<\n+0002aec0: 2f73 7061 6e3e 203c 7370 616e 2063 6c61 /span> 0 0], <\n+0002af00: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n+0002af10: 3e5b 303c 2f73 7061 6e3e 203c 7370 616e >[0 0\n+0002af30: 7370 616e 3e20 3c73 7061 6e20 636c 6173 span> 1\n+0002af50: 203c 7370 616e 2063 6c61 7373 3d22 7072 0], \n+0002af80: 5b30 3c2f 7370 616e 3e20 3c73 7061 6e20 [00T\n+0002aff0: 656e 736f 725b 7368 6170 653d 7b34 2c3c ensor[shape={4,<\n+0002b000: 2f73 7061 6e3e 203c 7370 616e 2063 6c61 /span> 4}, stride={4,\n+0002b040: 3c2f 7370 616e 3e20 3c73 7061 6e20 636c 1},d\n+0002b0e0: 6570 7468 5f73 6361 6c65 3a3c 2f73 7061 epth_scale: 1\n+0002b140: 3030 302e 302c 3c2f 7370 616e 3e20 3c73 000.0, \n+0002b9c0: 656d 3e3c 7370 616e 2063 6c61 7373 3d22 em>)\n+0002b160: 6465 7074 685f 6d61 783a 3c2f 7370 616e depth_max: float\n+0002b190: 203c 7370 616e 2063 6c61 7373 3d22 7072 =3.\n+0002b1c0: 303c 2f73 7061 6e3e 3c2f 656d 3e3c 7370 0 .) →open3d:\n+0002b270: 3a74 3a3a 6765 6f6d 6574 7279 3a3a 5247 :t::geometry::RG\n+0002b280: 4244 496d 6167 653c 2f73 7061 6e3e 3c2f BDImage\n+0002b290: 7370 616e 3e3c 2f73 7061 6e3e 3c61 2063 span>..<\n+0002b310: 2f61 3e3c 2f64 743e 0a3c 6464 3e3c 703e /a>...<\n+0002b360: 646c 2063 6c61 7373 3d22 7079 206d 6574 dl class=\"py met\n+0002b370: 686f 6422 3e0a 3c64 7420 636c 6173 733d hod\">. \n+0002b320: 5072 6f6a 6563 7420 6120 636f 6c6f 7265 Project a colore\n+0002b330: 6420 706f 696e 7420 636c 6f75 6420 746f d point cloud to\n+0002b340: 2061 2052 4742 4420 696d 6167 652e 3c2f a RGBD image.\n+0002b350: 703e 0a3c 2f64 643e 3c2f 646c 3e0a 0a3c p>.
.rand\n+0002b400: 6f6d 5f64 6f77 6e5f 7361 6d70 6c65 3c2f om_down_sample\n+0002b410: 7370 616e 3e3c 2f73 7061 6e3e 3c73 7061 span> .\n+0002b580: 3c64 643e 3c70 3e44 6f77 6e73 616d 706c( self<\n+0002b480: 2f73 7061 6e3e 3c2f 656d 3e2c 203c 656d /span>, sampling_ra\n+0002b4d0: 7469 6f3c 2f73 7061 6e3e 3c2f 7370 616e tio)<\n+0002b500: 2f73 7061 6e3e 3c61 2063 6c61 7373 3d22 /span>..Downsampl\n+0002b590: 6520 6120 706f 696e 7463 6c6f 7564 2062 e a pointcloud b\n+0002b5a0: 7920 7365 6c65 6374 696e 6720 7261 6e64 y selecting rand\n+0002b5b0: 6f6d 2069 6e64 6578 2070 6f69 6e74 2061 om index point a\n+0002b5c0: 6e64 2069 7473 2061 7474 7269 6275 7465 nd its attribute\n+0002b5d0: 732e 3c2f 703e 0a3c 646c 2063 6c61 7373 s.
..
- Para\n+0002b610: 6d65 7465 7273 3c73 7061 6e20 636c 6173 meters:
\n+0002b6e0: 0a3c 6474 2063 6c61 7373 3d22 6669 656c . samplin\n+0002b660: 675f 7261 7469 6f3c 2f73 7472 6f6e 673e g_ratio\n+0002b670: 2028 3c65 6d3e 666c 6f61 743c 2f65 6d3e (float\n+0002b680: 2920 e280 9320 5361 6d70 6c69 6e67 2072 ) ... Sampling r\n+0002b690: 6174 696f 2c20 7468 6520 7261 7469 6f20 atio, the ratio \n+0002b6a0: 6f66 2073 616d 706c 6520 746f 2074 6f74 of sample to tot\n+0002b6b0: 616c 206e 756d 6265 7220 6f66 2070 6f69 al number of poi\n+0002b6c0: 6e74 7320 696e 2074 6865 2070 6f69 6e74 nts in the point\n+0002b6d0: 636c 6f75 642e 3c2f 703e 0a3c 2f64 643e cloud.
.Returns<\n+0002b700: 7370 616e 2063 6c61 7373 3d22 636f 6c6f span class=\"colo\n+0002b710: 6e22 3e3a 3c2f 7370 616e 3e3c 2f64 743e n\">: \n+0002b720: 0a3c 6464 2063 6c61 7373 3d22 6669 656c ..... open3\n+0002b740: 642e 742e 6765 6f6d 6574 7279 2e50 6f69 d.t.geometry.Poi\n+0002b750: 6e74 436c 6f75 643c 2f70 3e0a 3c2f 6464 ntCloud
..
- .remove_du\n+0002b820: 706c 6963 6174 6564 5f70 6f69 6e74 733c plicated_points<\n+0002b830: 2f73 7061 6e3e 3c2f 7370 616e 3e3c 7370 /span>
( self\n+0002b8a0: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 : \n+0002b8f0: 3c73 7061 6e20 636c 6173 733d 226e 223e \n+0002b900: 3c61 2063 6c61 7373 3d22 7265 6665 7265 open3d.cpu.\n+0002b990: 7079 6269 6e64 2e74 2e67 656f 6d65 7472 pybind.t.geometr\n+0002b9a0: 792e 506f 696e 7443 6c6f 7564 3c2f 7370 y.PointCloud!\n+0002ba20: 3932 3b3c 2f73 7061 6e3e 203c 7370 616e 92; t\n+0002ba60: 7570 6c65 3c2f 7370 616e 3e3c 7370 616e uple [\n+0002ba90: 7370 616e 3e3c 2f73 7061 6e3e 3c61 2063 span><\n+0002bb10: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n+0002bb20: 3e6f 7065 6e33 642e 6370 752e 7079 6269 >open3d.cpu.pybi\n+0002bb30: 6e64 2e74 2e67 656f 6d65 7472 792e 506f nd.t.geometry.Po\n+0002bb40: 696e 7443 6c6f 7564 3c2f 7370 616e 3e3c intCloud<\n+0002bb50: 2f61 3e3c 7370 616e 2063 6c61 7373 3d22 /a>,[open3d.c\n+0002c400: 7075 2e70 7962 696e 642e 742e 6765 6f6d pu.pybind.t.geom\n+0002c410: 6574 7279 2e50 6f69 6e74 436c 6f75 643c etry.PointCloud<\n+0002c420: 2f73 7061 6e3e 3c2f 613e 3c73 7061 6e20 /span>, open3\n+0002c500: 642e 6370 752e 7079 6269 6e64 2e63 6f72 d.cpu.pybind.cor\n+0002c510: 652e 5465 6e73 6f72 3c2f 7370 616e 3e3c e.Tensor<\n+0002c520: 2f61 3e3c 7370 616e 2063 6c61 7373 3d22 /a>]... ]<\n+0002bc70: 2f73 7061 6e3e 3c2f 7370 616e 3e3c 2f73 /span>.\n+0002bd00: b63c 2f61 3e3c 2f64 743e 0a3c 6464 3e3c .. = True\n+0002c120: 2c20 3c65 6d20 636c 6173 733d 2273 6967 , remove\n+0002c160: 5f69 6e66 696e 6974 653c 2f73 7061 6e3e _infinite\n+0002c170: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 : \n+0002c1c0: 3c73 7061 6e20 636c 6173 733d 226e 223e \n+0002c1d0: 3c73 7061 6e20 636c 6173 733d 2270 7265 bool<\n+0002bd10: 703e 5265 6d6f 7665 2064 7570 6c69 6361 p>Remove duplica\n+0002bd20: 7465 6420 706f 696e 7473 2061 6e64 2074 ted points and t\n+0002bd30: 6865 7265 2061 7373 6f63 6961 7465 6420 here associated \n+0002bd40: 6174 7472 6962 7574 6573 2e3c 2f70 3e0a attributes..\n+0002bd50: 3c2f 6464 3e3c 2f64 6c3e 0a0a 3c64 6c20 ...
- .
r\n+0002be00: 656d 6f76 655f 6e6f 6e5f 6669 6e69 7465 emove_non_finite\n+0002be10: 5f70 6f69 6e74 733c 2f73 7061 6e3e 3c2f _points\n+0002be20: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>(\n+0002be40: 7370 616e 3e3c 656d 2063 6c61 7373 3d22 span>sel\n+0002be80: 663c 2f73 7061 6e3e 3c2f 7370 616e 3e3c f<\n+0002be90: 7370 616e 2063 6c61 7373 3d22 7022 3e3c span class=\"p\"><\n+0002bea0: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n+0002beb0: 3e3a 3c2f 7370 616e 3e3c 2f73 7061 6e3e >:\n+0002bec0: 3c73 7061 6e20 636c 6173 733d 2277 223e \n+0002bed0: 203c 2f73 7061 6e3e 3c73 7061 6e20 636c ope\n+0002bf70: 6e33 642e 6370 752e 7079 6269 6e64 2e74 n3d.cpu.pybind.t\n+0002bf80: 2e67 656f 6d65 7472 792e 506f 696e 7443 .geometry.PointC\n+0002bf90: 6c6f 7564 3c2f 7370 616e 3e3c 2f61 3e3c loud<\n+0002bfa0: 2f73 7061 6e3e 3c2f 656d 3e2c 203c 656d /span>, remove_nan<\n+0002bff0: 2f73 7061 6e3e 3c2f 7370 616e 3e3c 7370 /span> :\n+0002c020: 3c2f 7370 616e 3e3c 2f73 7061 6e3e 3c73 <\n+0002c040: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>bool=<\n+0002c230: 2f73 7061 6e3e 3c2f 7370 616e 3e3c 7370 /span> \n+0002c250: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>True\n+0002c290: 7370 616e 3e3c 2f65 6d3e 3c73 7061 6e20 span> ) → tuple\n+0002c890: 646c 3e0a 0a3c 646c 2063 6c61 7373 3d22 dl>.. Remove \n+0002c5f0: 616c 6c20 706f 696e 7473 2066 726f 6d20 all points from \n+0002c600: 7468 6520 706f 696e 7420 636c 6f75 6420 the point cloud \n+0002c610: 7468 6174 2068 6176 6520 6120 6e61 6e20 that have a nan \n+0002c620: 656e 7472 792c 206f 720a 696e 6669 6e69 entry, or.infini\n+0002c630: 7465 2076 616c 7565 2e20 4974 2061 6c73 te value. It als\n+0002c640: 6f20 7265 6d6f 7665 7320 7468 6520 636f o removes the co\n+0002c650: 7272 6573 706f 6e64 696e 6720 6174 7472 rresponding attr\n+0002c660: 6962 7574 6573 2e3c 2f70 3e0a 3c64 6c20 ibutes.
..
.- Parameters:\n+0002c6c0: 3c2f 7370 616e 3e3c 2f64 743e 0a3c 6464
.- .
.
- .
remove_nan\n+0002c710: 3c2f 7374 726f 6e67 3e20 e280 9320 5265 ... Re\n+0002c720: 6d6f 7665 204e 614e 2076 616c 7565 7320 move NaN values \n+0002c730: 6672 6f6d 2074 6865 2050 6f69 6e74 436c from the PointCl\n+0002c740: 6f75 642e 3c2f 703e 3c2f 6c69 3e0a 3c6c oud.rem\n+0002c760: 6f76 655f 696e 6669 6e69 7465 3c2f 7374 ove_infinite ... Remove\n+0002c780: 2069 6e66 696e 6974 6520 7661 6c75 6573 infinite values\n+0002c790: 2066 726f 6d20 7468 6520 506f 696e 7443 from the PointC\n+0002c7a0: 6c6f 7564 2e3c 2f70 3e3c 2f6c 693e 0a3c loud.
.<\n+0002c7b0: 2f75 6c3e 0a3c 2f64 643e 0a3c 6474 2063 /ul>.- Returns:\n+0002c7f0: 7370 616e 3e3c 2f64 743e 0a3c 6464 2063 span>
.Tuple of fi\n+0002c820: 6c74 6572 6564 2070 6f69 6e74 2063 6c6f ltered point clo\n+0002c830: 7564 2061 6e64 2062 6f6f 6c65 616e 206d ud and boolean m\n+0002c840: 6173 6b20 7465 6e73 6f72 2066 6f72 2073 ask tensor for s\n+0002c850: 656c 6563 7465 6420 7661 6c75 6573 0a77 elected values.w\n+0002c860: 2e72 2e74 2e20 696e 7075 7420 706f 696e .r.t. input poin\n+0002c870: 7420 636c 6f75 642e 3c2f 703e 0a3c 2f64 t cloud.
...
.<\n+0002cbe0: 6464 2063 6c61 7373 3d22 6669 656c 642d dd class=\"field-\n+0002cbf0: 6f64 6422 3e3c 756c 2063 6c61 7373 3d22 odd\">- .remove_rad\n+0002c940: 6975 735f 6f75 746c 6965 7273 3c2f 7370 ius_outliers(\n+0002c990: 3c73 7061 6e20 636c 6173 733d 226e 223e \n+0002c9a0: 3c73 7061 6e20 636c 6173 733d 2270 7265 self, nb_points,\n+0002ca20: 203c 656d 2063 6c61 7373 3d22 7369 672d search_\n+0002ca60: 7261 6469 7573 3c2f 7370 616e 3e3c 2f73 radius)..
.Re\n+0002cb20: 6d6f 7665 2070 6f69 6e74 7320 7468 6174 move points that\n+0002cb30: 2068 6176 6520 6c65 7373 2074 6861 6e20 have less than \n+0002cb40: 6e62 5f70 6f69 6e74 7320 6e65 6967 6862 nb_points neighb\n+0002cb50: 6f72 7320 696e 2061 0a73 7068 6572 6520 ors in a.sphere \n+0002cb60: 6f66 2061 2067 6976 656e 2073 6561 7263 of a given searc\n+0002cb70: 6820 7261 6469 7573 2e3c 2f70 3e0a 3c64 h radius.
.. - Parameters
: .
.\n+0002cd90: 0a3c 6474 2063 6c61 7373 3d22 6669 656c .- .
\n+0002cc10: 3c73 7472 6f6e 673e 6e62 5f70 6f69 6e74 nb_point\n+0002cc20: 733c 2f73 7472 6f6e 673e 2028 3c65 6d3e s (\n+0002cc30: 696e 743c 2f65 6d3e 2920 e280 9320 4e75 int) ... Nu\n+0002cc40: 6d62 6572 206f 6620 6e65 6967 6862 6f72 mber of neighbor\n+0002cc50: 2070 6f69 6e74 7320 7265 7175 6972 6564 points required\n+0002cc60: 2077 6974 6869 6e20 7468 6520 7261 6469 within the radi\n+0002cc70: 7573 2e3c 2f70 3e3c 2f6c 693e 0a3c 6c69 us.
- .
sear\n+0002cc90: 6368 5f72 6164 6975 733c 2f73 7472 6f6e ch_radius (float) ... Radius o\n+0002ccc0: 6620 7468 6520 7370 6865 7265 2e3c 2f70 f the sphere.
- .
nb_points<\n+0002ccf0: 2f73 7472 6f6e 673e 20e2 8093 204e 756d /strong> ... Num\n+0002cd00: 6265 7220 6f66 206e 6569 6768 626f 7220 ber of neighbor \n+0002cd10: 706f 696e 7473 2072 6571 7569 7265 6420 points required \n+0002cd20: 7769 7468 696e 2074 6865 2072 6164 6975 within the radiu\n+0002cd30: 732e 3c2f 703e 3c2f 6c69 3e0a 3c6c 693e s.- \n+0002cd40: 3c70 3e3c 7374 726f 6e67 3e73 6561 7263
searc\n+0002cd50: 685f 7261 6469 7573 3c2f 7374 726f 6e67 h_radius ... Radius of \n+0002cd70: 7468 6520 7370 6865 7265 2e3c 2f70 3e3c the sphere.
<\n+0002cd80: 2f6c 693e 0a3c 2f75 6c3e 0a3c 2f64 643e /li>.Returns<\n+0002cdb0: 7370 616e 2063 6c61 7373 3d22 636f 6c6f span class=\"colo\n+0002cdc0: 6e22 3e3a 3c2f 7370 616e 3e3c 2f64 743e n\">: \n+0002cdd0: 0a3c 6464 2063 6c61 7373 3d22 6669 656c .. Tuple\n+0002cdf0: 206f 6620 6669 6c74 6572 6564 2070 6f69 of filtered poi\n+0002ce00: 6e74 2063 6c6f 7564 2061 6e64 2062 6f6f nt cloud and boo\n+0002ce10: 6c65 616e 206d 6173 6b20 7465 6e73 6f72 lean mask tensor\n+0002ce20: 2066 6f72 2073 656c 6563 7465 6420 7661 for selected va\n+0002ce30: 6c75 6573 0a77 2e72 2e74 2e20 696e 7075 lues.w.r.t. inpu\n+0002ce40: 7420 706f 696e 7420 636c 6f75 642e 3c2f t point cloud.\n+0002ce50: 703e 0a3c 2f64 643e 0a3c 6474 2063 6c61 p>.
R\n+0002ce70: 6574 7572 6e73 3c73 7061 6e20 636c 6173 eturns: .\n+0002cf00: 646c 3e0a 0a3c 646c 2063 6c61 7373 3d22 dl>.. tuple[open3d.t.\n+0002cec0: 6765 6f6d 6574 7279 2e50 6f69 6e74 436c geometry.PointCl\n+0002ced0: 6f75 642c 206f 7065 6e33 642e 636f 7265 oud, open3d.core\n+0002cee0: 2e54 656e 736f 725d 3c2f 703e 0a3c 2f64 .Tensor]
....
open\n+0002d120: 3364 2e63 7075 2e70 7962 696e 642e 742e 3d.cpu.pybind.t.\n+0002d130: 6765 6f6d 6574 7279 2e50 6f69 6e74 436c geometry.PointCl\n+0002d140: 6f75 643c 2f73 7061 6e3e 3c2f 613e 3c2f oud\n+0002d150: 7370 616e 3e3c 2f65 6d3e 2c20 3c65 6d20 span>, nb_neighbors\n+0002d1a0: 3c2f 7370 616e 3e3c 2f73 7061 6e3e 3c73- .remov\n+0002cfb0: 655f 7374 6174 6973 7469 6361 6c5f 6f75 e_statistical_ou\n+0002cfc0: 746c 6965 7273 3c2f 7370 616e 3e3c 2f73 tliers(self\n+0002d030: 3c2f 7370 616e 3e3c 2f73 7061 6e3e 3c73
<\n+0002d070: 7370 616e 2063 6c61 7373 3d22 7722 3e20 span class=\"w\"> \n+0002d080: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61\n+0002d060: 3a3c 2f73 7061 6e3e 3c2f 7370 616e 3e3c :<\n+0002d1e0: 7370 616e 2063 6c61 7373 3d22 7722 3e20 span class=\"w\"> \n+0002d1f0: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 int,\n+0002d230: 203c 656d 2063 6c61 7373 3d22 7369 672d std_rat\n+0002d270: 696f 3c2f 7370 616e 3e3c 2f73 7061 6e3e io\n+0002d280: 3c73 7061 6e20 636c 6173 733d 2270 223e \n+0002d290: 3c73 7061 6e20 636c 6173 733d 2270 7265 : float\n+0002d2f0: 3c2f 7370 616e 3e3c 2f73 7061 6e3e 3c2f \n+0002d300: 656d 3e3c 7370 616e 2063 6c61 7373 3d22 em>)\n+0002d1d0: 3a3c 2f73 7061 6e3e 3c2f 7370 616e 3e3c :!\n+0002d360: 3932 3b3c 2f73 7061 6e3e 203c 7370 616e 92; t\n+0002d3a0: 7570 6c65 3c2f 7370 616e 3e3c 7370 616e uple [\n+0002d3d0: 7370 616e 3e3c 2f73 7061 6e3e 3c61 2063 span><\n+0002d450: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n+0002d460: 3e6f 7065 6e33 642e 6370 752e 7079 6269 >open3d.cpu.pybi\n+0002d470: 6e64 2e74 2e67 656f 6d65 7472 792e 506f nd.t.geometry.Po\n+0002d480: 696e 7443 6c6f 7564 3c2f 7370 616e 3e3c intCloud<\n+0002d490: 2f61 3e3c 7370 616e 2063 6c61 7373 3d22 /a>, open3d.cpu.p\n+0002d570: 7962 696e 642e 636f 7265 2e54 656e 736f ybind.core.Tenso\n+0002d580: 723c 2f73 7061 6e3e 3c2f 613e 3c73 7061 r... ]<\n+0002d5b0: 2f73 7061 6e3e 3c2f 7370 616e 3e3c 2f73 /span> ..\n+0002d8f0: 646c 3e0a 0a3c 646c 2063 6c61 7373 3d22 dl>.. Remove poin\n+0002d660: 7473 2074 6861 7420 6172 6520 6675 7274 ts that are furt\n+0002d670: 6865 7220 6177 6179 2066 726f 6d20 7468 her away from th\n+0002d680: 6569 7220 7020 6e62 5f6e 6569 6768 626f eir p nb_neighbo\n+0002d690: 720a 6e65 6967 6862 6f72 7320 696e 2061 r.neighbors in a\n+0002d6a0: 7665 7261 6765 2e20 5468 6973 2066 756e verage. This fun\n+0002d6b0: 6374 696f 6e20 6973 206e 6f74 2072 6563 ction is not rec\n+0002d6c0: 6f6d 6d65 6e64 6564 2074 6f20 7573 6520 ommended to use \n+0002d6d0: 6f6e 2047 5055 2e3c 2f70 3e0a 3c64 6c20 on GPU.
..
- Parameters:\n+0002d730: 3c2f 7370 616e 3e3c 2f64 743e 0a3c 6464
.- .
.
- .
\n+0002d7c0: 3c2f 6c69 3e0a 3c6c 693e 3c70 3e3c 7374
nb_neighbo\n+0002d780: 7273 3c2f 7374 726f 6e67 3e20 e280 9320 rs ... \n+0002d790: 4e75 6d62 6572 206f 6620 6e65 6967 6862 Number of neighb\n+0002d7a0: 6f72 7320 6172 6f75 6e64 2074 6865 2074 ors around the t\n+0002d7b0: 6172 6765 7420 706f 696e 742e 3c2f 703e arget point.- .<\n+0002d810: 2f75 6c3e 0a3c 2f64 643e 0a3c 6474 2063 /ul>.
std_ratio\n+0002d7e0: 7374 726f 6e67 3e20 e280 9320 5374 616e strong> ... Stan\n+0002d7f0: 6461 7264 2064 6576 6961 7469 6f6e 2072 dard deviation r\n+0002d800: 6174 696f 2e3c 2f70 3e3c 2f6c 693e 0a3c atio. - Returns:\n+0002d850: 7370 616e 3e3c 2f64 743e 0a3c 6464 2063 span>
.Tuple of fi\n+0002d880: 6c74 6572 6564 2070 6f69 6e74 2063 6c6f ltered point clo\n+0002d890: 7564 2061 6e64 2062 6f6f 6c65 616e 206d ud and boolean m\n+0002d8a0: 6173 6b20 7465 6e73 6f72 2066 6f72 2073 ask tensor for s\n+0002d8b0: 656c 6563 7465 6420 7661 6c75 6573 0a77 elected values.w\n+0002d8c0: 2e72 2e74 2e20 696e 7075 7420 706f 696e .r.t. input poin\n+0002d8d0: 7420 636c 6f75 642e 3c2f 703e 0a3c 2f64 t cloud.
..
..- .rotate(\n+0002d9d0: 3c73 7061 6e20 636c 6173 733d 226e 223e \n+0002d9e0: 3c73 7061 6e20 636c 6173 733d 2270 7265 self:\n+0002da30: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>
.\n+0002dad0: 3c73 7061 6e20 636c 6173 733d 2270 7265 open3d.cpu.pyb\n+0002daf0: 696e 642e 742e 6765 6f6d 6574 7279 2e50 ind.t.geometry.P\n+0002db00: 6f69 6e74 436c 6f75 643c 2f73 7061 6e3e ointCloud\n+0002db10: 3c2f 613e 3c2f 7370 616e 3e3c 2f65 6d3e \n+0002db20: 2c20 3c65 6d20 636c 6173 733d 2273 6967 , R: open3d\n+0002dc50: 2e63 7075 2e70 7962 696e 642e 636f 7265 .cpu.pybind.core\n+0002dc60: 2e54 656e 736f 723c 2f73 7061 6e3e 3c2f .Tensor\n+0002dc70: 613e 3c2f 7370 616e 3e3c 2f65 6d3e 2c20 a>, \n+0002dc80: 3c65 6d20 636c 6173 733d 2273 6967 2d70 center\n+0002dcc0: 7370 616e 3e3c 2f73 7061 6e3e 3c73 7061 span>:<\n+0002dcf0: 2f73 7061 6e3e 3c2f 7370 616e 3e3c 7370 /span> \n+0002dd10: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>ope\n+0002ddb0: 6e33 642e 6370 752e 7079 6269 6e64 2e63 n3d.cpu.pybind.c\n+0002ddc0: 6f72 652e 5465 6e73 6f72 3c2f 7370 616e ore.Tensor ) →\n+0002de40: 3b3c 2f73 7061 6e3e 203c 7370 616e 2063 ;\n+0002def0: 6f70 656e 3364 2e63 7075 2e70 7962 696e open3d.cpu.pybin\n+0002df00: 642e 742e 6765 6f6d 6574 7279 2e50 6f69 d.t.geometry.Poi\n+0002df10: 6e74 436c 6f75 643c 2f73 7061 6e3e 3c2f ntCloud\n+0002df20: 613e 3c2f 7370 616e 3e3c 2f73 7061 6e3e a>\n+0002df30: 3c61 2063 6c61 7373 3d22 6865 6164 6572 ..Rotate poin\n+0002dfb0: 7473 2061 6e64 206e 6f72 6d61 6c73 2028 ts and normals (\n+0002dfc0: 6966 2065 7869 7374 292e 3c2f 703e 0a3c if exist).
.<\n+0002dfd0: 2f64 643e 3c2f 646c 3e0a 0a3c 646c 2063 /dd>.
- .scale\n+0002e070: 3c2f 7370 616e 3e3c 2f73 7061 6e3e 3c73
(self: open3d.cpu\n+0002e1d0: 2e70 7962 696e 642e 742e 6765 6f6d 6574 .pybind.t.geomet\n+0002e1e0: 7279 2e50 6f69 6e74 436c 6f75 643c 2f73 ry.PointCloud<\n+0002e200: 2f65 6d3e 2c20 3c65 6d20 636c 6173 733d /em>, , bool\n-00030960: 6561 6e5f 6d61 736b 3c2f 7370 616e 3e3c ean_mask<\n-00030970: 2f73 7061 6e3e 3c2f 656d 3e2c 203c 656d /span>, invert=False\n-00030a40: 3c73 7061 6e20 636c 6173 733d 2273 6967 )\n-00030a60: 3c61 2063 6c61 7373 3d22 6865 6164 6572 ..\n-00030ad0: 3c2f 6474 3e0a 3c64 643e 3c70 3e53 656c .: floa\n+0002e2c0: 743c 2f73 7061 6e3e 3c2f 7370 616e 3e3c t<\n+0002e2d0: 2f65 6d3e 2c20 3c65 6d20 636c 6173 733d /em>, sc\n+0002e240: 616c 653c 2f73 7061 6e3e 3c2f 7370 616e ale : open3d.cpu.py\n+0002e410: 6269 6e64 2e63 6f72 652e 5465 6e73 6f72 bind.core.Tensor\n+0002e420: 3c2f 7370 616e 3e3c 2f61 3e3c 2f73 7061 )\n+0002e450: 3c2f 7370 616e 3e20 3c73 7061 6e20 636c &\n+0002e490: 2378 3231 3932 3b3c 2f73 7061 6e3e 203c #x2192; <\n+0002e4a0: 7370 616e 2063 6c61 7373 3d22 7369 672d span class=\"sig-\n+0002e4b0: 7265 7475 726e 2d74 7970 6568 696e 7422 return-typehint\"\n+0002e4c0: 3e3c 6120 636c 6173 733d 2272 6566 6572 >open3d.cpu\n+0002e550: 2e70 7962 696e 642e 742e 6765 6f6d 6574 .pybind.t.geomet\n+0002e560: 7279 2e50 6f69 6e74 436c 6f75 643c 2f73 ry.PointCloud<\n+0002e580: 2f73 7061 6e3e 3c61 2063 6c61 7373 3d22 /span>... ce\n+0002e310: 6e74 6572 3c2f 7370 616e 3e3c 2f73 7061 nter .. Scale \n+0002e600: 706f 696e 7473 2e3c 2f70 3e0a 3c2f 6464 points.
..<\n+0002e630: 6474 2063 6c61 7373 3d22 7369 6720 7369 dt class=\"sig si\n+0002e640: 672d 6f62 6a65 6374 2070 7922 2069 643d g-object py\" id=\n+0002e650: 226f 7065 6e33 642e 742e 6765 6f6d 6574 \"open3d.t.geomet\n+0002e660: 7279 2e50 6f69 6e74 436c 6f75 642e 7365 ry.PointCloud.se\n+0002e670: 676d 656e 745f 706c 616e 6522 3e0a 3c73 gment_plane\">.
(self\n+0002e730: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>:<\n+0002e760: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>\n+0002e6b0: 7365 676d 656e 745f 706c 616e 653c 2f73 segment_planeopen3d.cpu.py\n+0002e820: 6269 6e64 2e74 2e67 656f 6d65 7472 792e bind.t.geometry.\n+0002e830: 506f 696e 7443 6c6f 7564 3c2f 7370 616e PointCloud, dista\n+0002e890: 6e63 655f 7468 7265 7368 6f6c 643c 2f73 nce_threshold:\n+0002e8d0: 7370 616e 3e3c 2f73 7061 6e3e 3c73 7061 span>float = 0.01,\n+0002e9d0: 203c 656d 2063 6c61 7373 3d22 7369 672d ransac_\n+0002ea10: 6e3c 2f73 7061 6e3e 3c2f 7370 616e 3e3c n<\n+0002ea20: 7370 616e 2063 6c61 7373 3d22 7022 3e3c span class=\"p\"><\n+0002ea30: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n+0002ea40: 3e3a 3c2f 7370 616e 3e3c 2f73 7061 6e3e >:\n+0002ea50: 3c73 7061 6e20 636c 6173 733d 2277 223e \n+0002ea60: 203c 2f73 7061 6e3e 3c73 7061 6e20 636c int =3 , \n+0002eb40: 3c65 6d20 636c 6173 733d 2273 6967 2d70 num_iter\n+0002eb80: 6174 696f 6e73 3c2f 7370 616e 3e3c 2f73 ations:\n+0002ebc0: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>\n+0002ec10: 3c73 7061 6e20 636c 6173 733d 2277 223e \n+0002ec20: 203c 2f73 7061 6e3e 3c73 7061 6e20 636c = i\n+0002ec00: 6e74 3c2f 7370 616e 3e3c 2f73 7061 6e3e nt 1\n+0002eca0: 3030 3c2f 7370 616e 3e3c 2f73 7061 6e3e 00 \n+0002ecb0: 3c2f 656d 3e2c 203c 656d 2063 6c61 7373 ,: float<\n+0002ed80: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span> p\n+0002ecf0: 726f 6261 6269 6c69 7479 3c2f 7370 616e robability <\n+0002edd0: 7370 616e 2063 6c61 7373 3d22 7722 3e20 span class=\"w\"> \n+0002ede0: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 0.999\n+0002edc0: 3d3c 2f73 7061 6e3e 3c2f 7370 616e 3e3c =) <\n-00030240: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n-00030250: 3e46 616c 7365 3c2f 7370 616e 3e3c 2f73 >False, remove_duplic\n-000302b0: 6174 6573 3c2f 7370 616e 3e3c 2f73 7061 ates=<\n-00030310: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n-00030320: 3e46 616c 7365 3c2f 7370 616e 3e3c 2f73 >False)...\n-000303d0: 3c64 643e 3c70 3e53 656c 6563 7420 706f→tuple\n+0002eed0: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>[<\n+0002ef00: 2f73 7061 6e3e 3c61 2063 6c61 7373 3d22 /span>op\n+0002ef90: 656e 3364 2e63 7075 2e70 7962 696e 642e en3d.cpu.pybind.\n+0002efa0: 636f 7265 2e54 656e 736f 723c 2f73 7061 core.Tensor ,\n+0002efe0: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 <\n+0002f000: 6120 636c 6173 733d 2272 6566 6572 656e a class=\"referen\n+0002f010: 6365 2069 6e74 6572 6e61 6c22 2068 7265 ce internal\" hre\n+0002f020: 663d 226f 7065 6e33 642e 636f 7265 2e54 f=\"open3d.core.T\n+0002f030: 656e 736f 722e 6874 6d6c 236f 7065 6e33 ensor.html#open3\n+0002f040: 642e 636f 7265 2e54 656e 736f 7222 2074 d.core.Tensor\" t\n+0002f050: 6974 6c65 3d22 6f70 656e 3364 2e63 7075 itle=\"open3d.cpu\n+0002f060: 2e70 7962 696e 642e 636f 7265 2e54 656e .pybind.core.Ten\n+0002f070: 736f 7222 3e3c 7370 616e 2063 6c61 7373 sor\">open3d.cp\n+0002f090: 752e 7079 6269 6e64 2e63 6f72 652e 5465 u.pybind.core.Te\n+0002f0a0: 6e73 6f72 3c2f 7370 616e 3e3c 2f61 3e3c nsor<\n+0002f0b0: 7370 616e 2063 6c61 7373 3d22 7022 3e3c span class=\"p\"><\n+0002f0c0: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n+0002f0d0: 3e5d 3c2f 7370 616e 3e3c 2f73 7061 6e3e >]\n+0002f0e0: 3c2f 7370 616e 3e3c 2f73 7061 6e3e 3c61 ...Segmen\n+0002f170: 7473 2061 2070 6c61 6e65 2069 6e20 7468 ts a plane in th\n+0002f180: 6520 706f 696e 7420 636c 6f75 6420 7573 e point cloud us\n+0002f190: 696e 6720 7468 6520 5241 4e53 4143 2061 ing the RANSAC a\n+0002f1a0: 6c67 6f72 6974 686d 2e0a 5468 6973 2069 lgorithm..This i\n+0002f1b0: 7320 6120 7772 6170 7065 7220 666f 7220 s a wrapper for \n+0002f1c0: 6120 4350 5520 696d 706c 656d 656e 7461 a CPU implementa\n+0002f1d0: 7469 6f6e 2061 6e64 2061 2063 6f70 7920 tion and a copy \n+0002f1e0: 6f66 2074 6865 2070 6f69 6e74 2063 6c6f of the point clo\n+0002f1f0: 7564 2064 6174 6120 616e 640a 7265 7375 ud data and.resu\n+0002f200: 6c74 696e 6720 706c 616e 6520 6d6f 6465 lting plane mode\n+0002f210: 6c20 616e 6420 696e 6c69 6572 2069 6e64 l and inlier ind\n+0002f220: 6965 6373 2077 696c 6c20 6265 206d 6164 iecs will be mad\n+0002f230: 652e 3c2f 703e 0a3c 646c 2063 6c61 7373 e.
..
.- Para\n+0002f270: 6d65 7465 7273 3c73 7061 6e20 636c 6173 meters:
.- .
\n+0002f4e0: 0a3c 6474 2063 6c61 7373 3d22 6669 656c .- .
distance_thresh\n+0002f2e0: 6f6c 643c 2f73 7472 6f6e 673e 2028 3c65 old (
default 0.01\n+0002f300: 656d 3e29 20e2 8093 204d 6178 2064 6973 em>) ... Max dis\n+0002f310: 7461 6e63 6520 6120 706f 696e 7420 6361 tance a point ca\n+0002f320: 6e20 6265 2066 726f 6d20 7468 6520 706c n be from the pl\n+0002f330: 616e 6520 6d6f 6465 6c2c 2061 6e64 2073 ane model, and s\n+0002f340: 7469 6c6c 2062 6520 636f 6e73 6964 6572 till be consider\n+0002f350: 6564 2061 6e20 696e 6c69 6572 2e3c 2f70 ed an inlier. - .<\n+0002f3f0: 6c69 3e3c 703e 3c73 7472 6f6e 673e 6e75 li>
ransac_n\n+0002f380: 7374 726f 6e67 3e20 283c 656d 3e64 6566 strong> (def\n+0002f390: 6175 6c74 2033 3c2f 656d 3e29 20e2 8093 ault 3) ...\n+0002f3a0: 204e 756d 6265 7220 6f66 2069 6e69 7469 Number of initi\n+0002f3b0: 616c 2070 6f69 6e74 7320 746f 2062 6520 al points to be \n+0002f3c0: 636f 6e73 6964 6572 6564 2069 6e6c 6965 considered inlie\n+0002f3d0: 7273 2069 6e20 6561 6368 2069 7465 7261 rs in each itera\n+0002f3e0: 7469 6f6e 2e3c 2f70 3e3c 2f6c 693e 0a3c tion.nu\n+0002f400: 6d5f 6974 6572 6174 696f 6e73 3c2f 7374 m_iterations (defau\n+0002f420: 6c74 2031 3030 3c2f 656d 3e29 20e2 8093 lt 100) ...\n+0002f430: 204d 6178 696d 756d 206e 756d 6265 7220 Maximum number \n+0002f440: 6f66 2069 7465 7261 7469 6f6e 732e 3c2f of iterations.\n+0002f450: 703e 3c2f 6c69 3e0a 3c6c 693e 3c70 3e3c p>.
<\n+0002f4d0: 2f6c 693e 0a3c 2f75 6c3e 0a3c 2f64 643e /li>..- (default 0.999\n+0002f490: 656d 3e29 20e2 8093 2045 7870 6563 7465 em>) ... Expecte\n+0002f4a0: 6420 7072 6f62 6162 696c 6974 7920 6f66 d probability of\n+0002f4b0: 2066 696e 6469 6e67 2074 6865 206f 7074 finding the opt\n+0002f4c0: 696d 616c 2070 6c61 6e65 2e3c 2f70 3e3c imal plane.
<\n+0002f460: 7374 726f 6e67 3e70 726f 6261 6269 6c69 strong>probabili\n+0002f470: 7479 3c2f 7374 726f 6e67 3e20 283c 656d ty
- Returns<\n+0002f500: 7370 616e 2063 6c61 7373 3d22 636f 6c6f span class=\"colo\n+0002f510: 6e22 3e3a 3c2f 7370 616e 3e3c 2f64 743e n\">:
\n+0002f520: 0a3c 6464 2063 6c61 7373 3d22 6669 656c .- .
Tuple\n+0002f540: 206f 6620 7468 6520 706c 616e 6520 6d6f of the plane mo\n+0002f550: 6465 6c20 3c63 6974 653e 6178 202b 2062 del ax + b\n+0002f560: 7920 2b20 637a 202b 2064 203d 2030 3c2f y + cz + d = 0\n+0002f570: 6369 7465 3e20 616e 6420 7468 6520 696e cite> and the in\n+0002f580: 6469 6365 7320 6f66 0a74 6865 2070 6c61 dices of.the pla\n+0002f590: 6e65 2069 6e6c 6965 7273 206f 6e20 7468 ne inliers on th\n+0002f5a0: 6520 7361 6d65 2064 6576 6963 6520 6173 e same device as\n+0002f5b0: 2074 6865 2070 6f69 6e74 2063 6c6f 7564 the point cloud\n+0002f5c0: 2e3c 2f70 3e0a 3c2f 6464 3e0a 3c2f 646c .
.Example
.\n+0002f5f0: 3c70 3e57 6520 7573 6520 5265 6477 6f6fWe use Redwoo\n+0002f600: 6420 6461 7461 7365 7420 746f 2063 6f6d d dataset to com\n+0002f610: 7075 7465 2069 7473 2070 6c61 6e65 206d pute its plane m\n+0002f620: 6f64 656c 2061 6e64 2069 6e6c 6965 7273 odel and inliers\n+0002f630: 3a3c 2f70 3e0a 3c64 6976 2063 6c61 7373 :
..\n-00030020: 6464 3e3c 2f64 6c3e 0a0a 3c64 6c20 636c dd>...\n-00030010: 3c2f 6469 763e 0a3c 2f64 6976 3e0a 3c2fsample\n+0002f6a0: 5f70 6364 5f64 6174 613c 2f73 7061 6e3e _pcd_data\n+0002f6b0: 203c 7370 616e 2063 6c61 7373 3d22 6f22 = o3d. ().data\n+0002f710: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 .<\n+0002f730: 7370 616e 2063 6c61 7373 3d22 6e22 3e50 span class=\"n\">P\n+0002f740: 4344 506f 696e 7443 6c6f 7564 3c2f 7370 CDPointCloudpcd\n+0002f780: 3c2f 7370 616e 3e20 3c73 7061 6e20 636c =\n+0002f7a0: 203c 7370 616e 2063 6c61 7373 3d22 6e22 o3d. t.io.read_point_c\n+0002f850: 6c6f 7564 3c2f 7370 616e 3e3c 7370 616e loud(sample_pcd_da\n+0002f890: 7461 3c2f 7370 616e 3e3c 7370 616e 2063 ta.path .segmen\n+0002f9a0: 745f 706c 616e 653c 2f73 7061 6e3e 3c73 t_plane).plane_model\n+0002f900: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 , \n+0002f920: 3c73 7061 6e20 636c 6173 733d 226e 223e \n+0002f930: 696e 6c69 6572 733c 2f73 7061 6e3e 203c inliers <\n+0002f940: 7370 616e 2063 6c61 7373 3d22 6f22 3e3d span class=\"o\">=\n+0002f950: 3c2f 7370 616e 3e20 3c73 7061 6e20 636c pcd(<\n+0002f9c0: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>distance_t\n+0002f9e0: 6872 6573 686f 6c64 3c2f 7370 616e 3e3c hreshold<\n+0002f9f0: 7370 616e 2063 6c61 7373 3d22 6f22 3e3d span class=\"o\">=\n+0002fa00: 3c2f 7370 616e 3e3c 7370 616e 2063 6c610.01,. \n 0002fa40: 2020 2020 2020 2020 2020 2020 2020 2020 \n 0002fa50: 2020 2020 2020 2020 2020 2020 2020 2020 \n-0002fa60: 2020 203c 7370 616e 2063 6c61 7373 3d22 ransac_n=3,. \n+0002fa60: 2020 2020 203c 7370 616e 2063 6c61 7373 ransac_n=3\n+0002fab0: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>,. \n 0002fad0: 2020 2020 2020 2020 2020 2020 2020 2020 \n 0002fae0: 2020 2020 2020 2020 2020 2020 2020 2020 \n-0002faf0: 2020 2020 203c 7370 616e 2063 6c61 7373 num_iterati\n-0002fb10: 6f6e 733c 2f73 7061 6e3e 3c73 7061 6e20 ons= 1000)<\n-0002fb60: 2f73 7061 6e3e 0a3c 7370 616e 2063 6c61 /span>.inlier_cl\n-0002fb80: 6f75 643c 2f73 7061 6e3e 203c 7370 616e oud = pcd..<\n-0002fbd0: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>select_by_\n-0002fbf0: 696e 6465 783c 2f73 7061 6e3e 3c73 7061 indexinliers).inlie\n-0002fc60: 725f 636c 6f75 643c 2f73 7061 6e3e 203c r_cloud <\n-0002fc70: 7370 616e 2063 6c61 7373 3d22 6f22 3e3d span class=\"o\">=\n-0002fc80: 3c2f 7370 616e 3e20 3c73 7061 6e20 636c inlier_c\n-0002fca0: 6c6f 7564 3c2f 7370 616e 3e3c 7370 616e loud.paint_uniform\n-0002fce0: 5f63 6f6c 6f72 3c2f 7370 616e 3e3c 7370 _color( ([<\n-0002fd00: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>1.0, 0 ,0\n-0002fd80: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>]).<\n-0002fda0: 7370 616e 2063 6c61 7373 3d22 6e22 3e6f span class=\"n\">o\n-0002fdb0: 7574 6c69 6572 5f63 6c6f 7564 3c2f 7370 utlier_cloud = .<\n-0002fe10: 7370 616e 2063 6c61 7373 3d22 6e22 3e73 span class=\"n\">s\n-0002fe20: 656c 6563 745f 6279 5f69 6e64 6578 3c2f elect_by_index\n-0002fe30: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>(pcd\n-0002fdf0: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 inl\n-0002fe60: 6965 7273 3c2f 7370 616e 3e3c 7370 616e iers , invert=True\n-0002fed0: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>).o3\n-0002ff00: 643c 2f73 7061 6e3e 3c73 7061 6e20 636c d.\n-0002ff20: 3c73 7061 6e20 636c 6173 733d 226e 223e \n-0002ff30: 7669 7375 616c 697a 6174 696f 6e3c 2f73 visualizationdraw\n-0002ff70: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 ([\n-0002ff90: 3c73 7061 6e20 636c 6173 733d 226e 223e \n-0002ffa0: 696e 6c69 6572 5f63 6c6f 7564 3c2f 7370 inlier_cloud,outl\n-0002ffe0: 6965 725f 636c 6f75 643c 2f73 7061 6e3e ier_cloud \n-0002fff0: 3c73 7061 6e20 636c 6173 733d 2270 223e \n-00030000: 5d29 3c2f 7370 616e 3e0a 3c2f 7072 653e ]).\n-00030040: 0a3c 6474 2063 6c61 7373 3d22 7369 6720 .
- .select_by_in\n-000300d0: 6465 783c 2f73 7061 6e3e 3c2f 7370 616e dex(self\n-00030150: 2c20 3c65 6d20 636c 6173 733d 2273 6967 , indice\n-00030190: 733c 2f73 7061 6e3e 3c2f 7370 616e 3e3c s<\n-000301a0: 2f65 6d3e 2c20 3c65 6d20 636c 6173 733d /em>,
in\n-000301e0: 7665 7274 3c2f 7370 616e 3e3c 2f73 7061 vert =.. Select po\n-000303e0: 696e 7473 2066 726f 6d20 696e 7075 7420 ints from input \n-000303f0: 706f 696e 7463 6c6f 7564 2c20 6261 7365 pointcloud, base\n-00030400: 6420 6f6e 2069 6e64 6963 6573 2069 6e74 d on indices int\n-00030410: 6f20 6f75 7470 7574 2070 6f69 6e74 2063 o output point c\n-00030420: 6c6f 7564 2e3c 2f70 3e0a 3c64 6c20 636c loud.
..
.- P\n-00030460: 6172 616d 6574 6572 733c 7370 616e 2063 arameters:\n-00030480: 7370 616e 3e3c 2f64 743e 0a3c 6464 2063 span>
.- .
.
- .
indices (open3d.core\n-00030550: 2e54 656e 736f 723c 2f65 6d3e 3c2f 613e .Tensor\n-00030560: 2920 e280 9320 496e 7436 3420 696e 6465 ) ... Int64 inde\n-00030570: 7869 6e67 2074 656e 736f 7220 6f66 2073 xing tensor of s\n-00030580: 6861 7065 207b 6e2c 7d20 636f 6e74 6169 hape {n,} contai\n-00030590: 6e69 6e67 2069 6e64 6578 2076 616c 7565 ning index value\n-000305a0: 2074 6861 7420 6973 2074 6f20 6265 2073 that is to be s\n-000305b0: 656c 6563 7465 642e 3c2f 703e 3c2f 6c69 elected.- .\n-000306a0: 3c6c 693e 3c70 3e3c 7374 726f 6e67 3e72
invert\n-000305e0: 2028 3c65 6d3e 626f 6f6c 3c2f 656d 3e3c (bool<\n-000305f0: 656d 3e2c 203c 2f65 6d3e 3c65 6d3e 6f70 em>, op\n-00030600: 7469 6f6e 616c 3c2f 656d 3e3c 656d 3e2c tional,\n-00030610: 203c 2f65 6d3e 3c65 6d3e 6465 6661 756c defaul\n-00030620: 743d 4661 6c73 653c 2f65 6d3e 2920 e280 t=False) ..\n-00030630: 9320 5365 7420 746f 203c 6369 7465 3e54 . Set to T\n-00030640: 7275 653c 2f63 6974 653e 2074 6f20 696e rue to in\n-00030650: 7665 7274 2074 6865 2073 656c 6563 7469 vert the selecti\n-00030660: 6f6e 206f 6620 696e 6469 6365 732c 2061 on of indices, a\n-00030670: 6e64 2061 6c73 6f20 6967 6e6f 7265 2074 nd also ignore t\n-00030680: 6865 2064 7570 6c69 6361 7465 6420 696e he duplicated in\n-00030690: 6469 6365 732e 3c2f 703e 3c2f 6c69 3e0a dices.
- .<\n-00030760: 2f75 6c3e 0a3c 2f64 643e 0a3c 6474 2063 /ul>.
r\n-000306b0: 656d 6f76 655f 6475 706c 6963 6174 6573 emove_duplicates\n-000306c0: 3c2f 7374 726f 6e67 3e20 283c 656d 3e62 (b\n-000306d0: 6f6f 6c3c 2f65 6d3e 3c65 6d3e 2c20 3c2f ool, \n-000306e0: 656d 3e3c 656d 3e6f 7074 696f 6e61 6c3c em>optional<\n-000306f0: 2f65 6d3e 3c65 6d3e 2c20 3c2f 656d 3e3c /em>, <\n-00030700: 656d 3e64 6566 6175 6c74 3d46 616c 7365 em>default=False\n-00030710: 3c2f 656d 3e29 20e2 8093 2053 6574 2074 ) ... Set t\n-00030720: 6f20 3c63 6974 653e 5472 7565 3c2f 6369 o True to remove th\n-00030740: 6520 6475 706c 6963 6174 6564 2069 6e64 e duplicated ind\n-00030750: 6963 6573 2e3c 2f70 3e3c 2f6c 693e 0a3c ices.
- Returns:\n-000307a0: 7370 616e 3e3c 2f64 743e 0a3c 6464 2063 span>
.- .
open3d.t.ge\n-000307d0: 6f6d 6574 7279 2e50 6f69 6e74 436c 6f75 ometry.PointClou\n-000307e0: 643c 2f70 3e0a 3c2f 6464 3e0a 3c2f 646c d
.. .select_by\n-000308a0: 5f6d 6173 6b3c 2f73 7061 6e3e 3c2f 7370 _mask(self<\n-00030910: 2f73 7061 6e3e 3c2f 7370 616e 3e3c 2f65 /span>
Sel\n-00030ae0: 6563 7420 706f 696e 7473 2066 726f 6d20 ect points from \n-00030af0: 696e 7075 7420 706f 696e 7463 6c6f 7564 input pointcloud\n-00030b00: 2c20 6261 7365 6420 6f6e 2062 6f6f 6c65 , based on boole\n-00030b10: 616e 206d 6173 6b20 696e 6469 6365 7320 an mask indices \n-00030b20: 696e 746f 206f 7574 7075 7420 706f 696e into output poin\n-00030b30: 7420 636c 6f75 642e 3c2f 703e 0a3c 646c t cloud.
.<\n-00030bd0: 7374 726f 6e67 3e62 6f6f 6c65 616e 5f6d strong>boolean_m\n-00030be0: 6173 6b3c 2f73 7472 6f6e 673e 2028 3c61 ask (ope\n-00030c60: 6e33 642e 636f 7265 2e54 656e 736f 723c n3d.core.Tensor<\n-00030c70: 2f65 6d3e 3c2f 613e 2920 e280 9320 426f /em>) ... Bo\n-00030c80: 6f6c 6561 6e20 696e 6465 7869 6e67 2074 olean indexing t\n-00030c90: 656e 736f 7220 6f66 2073 6861 7065 207b ensor of shape {\n-00030ca0: 6e2c 7d20 636f 6e74 6169 6e69 6e67 2074 n,} containing t\n-00030cb0: 7275 6520 7661 6c75 6520 666f 7220 7468 rue value for th\n-00030cc0: 6520 696e 6469 6365 7320 7468 6174 2069 e indices that i\n-00030cd0: 7320 746f 2062 6520 7365 6c65 6374 6564 s to be selected\n-00030ce0: 2e2e 3c2f 703e 3c2f 6c69 3e0a 3c6c 693e ..
inver\n-00030d00: 743c 2f73 7472 6f6e 673e 2028 3c65 6d3e t (\n-00030d10: 626f 6f6c 3c2f 656d 3e3c 656d 3e2c 203c bool, <\n-00030d20: 2f65 6d3e 3c65 6d3e 6f70 7469 6f6e 616c /em>optional\n-00030d30: 3c2f 656d 3e3c 656d 3e2c 203c 2f65 6d3e , \n-00030d40: 3c65 6d3e 6465 6661 756c 743d 4661 6c73 default=Fals\n-00030d50: 653c 2f65 6d3e 2920 e280 9320 5365 7420 e) ... Set \n-00030d60: 746f 203c 6369 7465 3e54 7275 653c 2f63 to True to invert t\n-00030d80: 6865 2073 656c 6563 7469 6f6e 206f 6620 he selection of \n-00030d90: 696e 6469 6365 732e 3c2f 703e 3c2f 6c69 indices.
open3d.t\n-00030e10: 2e67 656f 6d65 7472 792e 506f 696e 7443 .geometry.PointC\n-00030e20: 6c6f 7564 3c2f 703e 0a3c 2f64 643e 0a3c loud
..<\n-00030e30: 2f64 6c3e 0a3c 2f64 643e 3c2f 646c 3e0a /dl>..\n-00030e40: 0a3c 646c 2063 6c61 7373 3d22 7079 206d .Transfer \n-00031500: 7468 6520 706f 696e 7420 636c 6f75 6420 the point cloud \n-00031510: 746f 2061 2073 7065 6369 6669 6564 2064 to a specified d\n-00031520: 6576 6963 652e 3c2f 703e 0a3c 2f64 643e evice.
.Convert \n-00031950: 746f 2061 206c 6567 6163 7920 4f70 656e to a legacy Open\n-00031960: 3344 2050 6f69 6e74 436c 6f75 642e 3c2f 3D PointCloud.\n-00031970: 703e 0a3c 2f64 643e 3c2f 646c 3e0a 0a3c p>.
Translates po\n-00032600: 696e 7473 2e3c 2f70 3e0a 3c2f 6464 3e3c ints.
.Downsamples a p\n-00032850: 6f69 6e74 2063 6c6f 7564 2062 7920 7365 oint cloud by se\n-00032860: 6c65 6374 696e 6720 6576 6572 7920 6b74 lecting every kt\n-00032870: 6820 696e 6465 7820 706f 696e 7420 616e h index point an\n-00032880: 6420 6974 7320 6174 7472 6962 7574 6573 d its attributes\n-00032890: 2e3c 2f70 3e0a 3c64 6c20 636c 6173 733d .
.\n-00032910: 3c73 7472 6f6e 673e 6576 6572 795f 6b5f every_k_\n-00032920: 706f 696e 7473 3c2f 7374 726f 6e67 3e20 points \n-00032930: 283c 656d 3e69 6e74 3c2f 656d 3e29 20e2 (int) .\n-00032940: 8093 2053 616d 706c 6520 7261 7465 2c20 .. Sample rate, \n-00032950: 7468 6520 7365 6c65 6374 6564 2070 6f69 the selected poi\n-00032960: 6e74 2069 6e64 6963 6573 2061 7265 205b nt indices are [\n-00032970: 302c 206b 2c20 326b 2c20 e280 a65d 2e3c 0, k, 2k, ...].<\n-00032980: 2f70 3e0a 3c2f 6464 3e0a 3c64 7420 636c /p>.
open3d.t.geo\n-000329f0: 6d65 7472 792e 506f 696e 7443 6c6f 7564 metry.PointCloud\n-00032a00: 3c2f 703e 0a3c 2f64 643e 0a3c 2f64 6c3e
.Downsampl\n-00032d10: 6573 2061 2070 6f69 6e74 2063 6c6f 7564 es a point cloud\n-00032d20: 2077 6974 6820 6120 7370 6563 6966 6965 with a specifie\n-00032d30: 6420 766f 7865 6c20 7369 7a65 2e3c 2f70 d voxel size.
.voxe\n-00032de0: 6c5f 7369 7a65 3c2f 7374 726f 6e67 3e20 l_size \n-00032df0: 283c 656d 3e66 6c6f 6174 3c2f 656d 3e29 (float)\n-00032e00: 20e2 8093 2054 6865 2073 697a 6520 6f66 ... The size of\n-00032e10: 2074 6865 2076 6f78 656c 2075 7365 6420 the voxel used \n-00032e20: 746f 2064 6f77 6e73 616d 706c 6520 7468 to downsample th\n-00032e30: 6520 706f 696e 7420 636c 6f75 642e 3c2f e point cloud.\n-00032e40: 703e 3c2f 6c69 3e0a 3c6c 693e 3c70 3e3c p>
<\n-00032e50: 7374 726f 6e67 3e72 6564 7563 7469 6f6e strong>reduction\n-00032e60: 3c2f 7374 726f 6e67 3e20 283c 656d 3e73 (s\n-00032e70: 7472 3c2f 656d 3e29 20e2 8093 2054 6865 tr) ... The\n-00032e80: 2061 7070 726f 6163 6820 746f 2070 6f6f approach to poo\n-00032e90: 6c20 706f 696e 7420 7072 6f70 6572 7469 l point properti\n-00032ea0: 6573 2069 6e20 6120 766f 7865 6c2e 2043 es in a voxel. C\n-00032eb0: 616e 206f 6e6c 7920 6265 20e2 809c 6d65 an only be ...me\n-00032ec0: 616e e280 9d20 6174 2063 7572 7265 6e74 an... at current\n-00032ed0: 2e3c 2f70 3e3c 2f6c 693e 0a3c 2f75 6c3e .
A downsampled p\n-00032f50: 6f69 6e74 2063 6c6f 7564 2077 6974 6820 oint cloud with \n-00032f60: 706f 696e 7420 7072 6f70 6572 7469 6573 point properties\n-00032f70: 2072 6564 7563 6564 2069 6e20 6561 6368 reduced in each\n-00032f80: 2076 6f78 656c 2e3c 2f70 3e0a 3c2f 6464 voxel.
.Exampl\n-00032fb0: 653c 2f70 3e0a 3c70 3e57 6520 7769 6c6c e
.We will\n-00032fc0: 206c 6f61 6420 7468 6520 4561 676c 6520 load the Eagle \n-00032fd0: 6461 7461 7365 742c 2064 6f77 6e73 616d dataset, downsam\n-00032fe0: 706c 6520 6974 2c20 616e 6420 7368 6f77 ple it, and show\n-00032ff0: 2074 6865 2072 6573 756c 743a 3c2f 703e the result:
\n-00033000: 0a3c 6469 7620 636c 6173 733d 2268 6967 .\n-00033050: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>eagle = o3d\n-000330a0: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>.dat\n-000330d0: 613c 2f73 7061 6e3e 3c73 7061 6e20 636c a .\n-000330f0: 3c73 7061 6e20 636c 6173 733d 226e 223e \n-00033100: 4561 676c 6550 6f69 6e74 436c 6f75 643c EaglePointCloud<\n-00033110: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>().\n-00033130: 3c73 7061 6e20 636c 6173 733d 226e 223e \n-00033140: 7063 643c 2f73 7061 6e3e 203c 7370 616e pcd = o3d.<\n-00033190: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>t.<\n-000331c0: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>io<\n-000331e0: 7370 616e 2063 6c61 7373 3d22 6f22 3e2e span class=\"o\">.\n-000331f0: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 read_poin\n-00033210: 745f 636c 6f75 643c 2f73 7061 6e3e 3c73 t_cloud(<\n-00033230: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>eagle.path\n-00033280: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>).pc\n-000332b0: 645f 646f 776e 3c2f 7370 616e 3e20 3c73 d_down =<\n-000332d0: 2f73 7061 6e3e 203c 7370 616e 2063 6c61 /span> pcd.voxel_d\n-00033320: 6f77 6e5f 7361 6d70 6c65 3c2f 7370 616e own_sample(voxel_s\n-00033360: 697a 653c 2f73 7061 6e3e 3c73 7061 6e20 ize=0.05)<\n-000333b0: 2f73 7061 6e3e 0a3c 7370 616e 2063 6c61 /span>.o3d.visuali\n-00033400: 7a61 7469 6f6e 3c2f 7370 616e 3e3c 7370 zation.\n-00033420: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>draw\n-00033440: 3c73 7061 6e20 636c 6173 733d 2270 223e \n-00033450: 285b 7b3c 2f73 7061 6e3e 3c73 7061 6e20 ([{'\n-00033470: 6e61 6d65 2623 3339 3b3c 2f73 7061 6e3e name'\n-00033480: 3c73 7061 6e20 636c 6173 733d 2270 223e \n-00033490: 3a3c 2f73 7061 6e3e 203c 7370 616e 2063 : 'p\n-000334b0: 6364 2623 3339 3b3c 2f73 7061 6e3e 3c73 cd',<\n-000334d0: 2f73 7061 6e3e 203c 7370 616e 2063 6c61 /span> 'geo\n-000334f0: 6d65 7472 7926 2333 393b 3c2f 7370 616e metry': pcd}, {<\n-00033560: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>'name\n-00033580: 2623 3339 3b3c 2f73 7061 6e3e 3c73 7061 ': 'pcd_d\n-000335c0: 6f77 6e26 2333 393b 3c2f 7370 616e 3e3c own'<\n-000335d0: 7370 616e 2063 6c61 7373 3d22 7022 3e2c span class=\"p\">,\n-000335e0: 3c2f 7370 616e 3e20 3c73 7061 6e20 636c 'ge\n-00033600: 6f6d 6574 7279 2623 3339 3b3c 2f73 7061 ometry': pcd_d\n-00033640: 6f77 6e3c 2f73 7061 6e3e 3c73 7061 6e20 own}]).
open3d.t.\n-00033850: 6765 6f6d 6574 7279 2e50 6f69 6e74 436c geometry.PointCl\n-00033860: 6f75 643c 2f70 3e0a 3c2f 6464 3e0a 3c2f oud
.R\n-000339f0: 6574 7572 6e73 2074 6865 2064 6576 6963 eturns the devic\n-00033a00: 6520 6f66 2074 6865 2067 656f 6d65 7472 e of the geometr\n-00033a10: 792e 3c2f 703e 0a3c 2f64 643e 3c2f 646c y.
.Retu\n-00033d40: 726e 7320 7472 7565 2069 6620 7468 6520 rns true if the \n-00033d50: 6765 6f6d 6574 7279 2069 7320 6f6e 2043 geometry is on C\n-00033d60: 5544 412e 3c2f 703e 0a3c 2f64 643e 3c2f UDA.
.p\n-00034060: 6f73 6974 696f 6e73 2c20 636f 6c6f 7273 ositions, colors\n-00034070: 2c20 6e6f 726d 616c 732c 2065 7463 2e3c , normals, etc.<\n-00034080: 2f70 3e0a 3c64 6c20 636c 6173 733d 2266 /p>.
Point...\n-00034100: 7320 6174 7472 6962 7574 6573 3c2f 703e s attributes
\n-00034110: 0a3c 2f64 643e 0a3c 2f64 6c3e 0a3c 2f64 .