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./usr/share/doc/open3d-doc/python/html/python_api/open3d.t.geometry.PointCloud.html\n+-rw-r--r-- 0 root (0) root (0) 222816 2024-02-25 16:27:12.000000 ./usr/share/doc/open3d-doc/python/html/python_api/open3d.t.geometry.PointCloud.html\n -rw-r--r-- 0 root (0) root (0) 106302 2024-02-25 16:27:12.000000 ./usr/share/doc/open3d-doc/python/html/python_api/open3d.t.geometry.RGBDImage.html\n -rw-r--r-- 0 root (0) root (0) 95637 2024-02-25 16:27:12.000000 ./usr/share/doc/open3d-doc/python/html/python_api/open3d.t.geometry.TensorMap.html\n -rw-r--r-- 0 root (0) root (0) 261687 2024-02-25 16:27:12.000000 ./usr/share/doc/open3d-doc/python/html/python_api/open3d.t.geometry.TriangleMesh.html\n -rw-r--r-- 0 root (0) root (0) 122983 2024-02-25 16:27:12.000000 ./usr/share/doc/open3d-doc/python/html/python_api/open3d.t.geometry.VoxelBlockGrid.html\n -rw-r--r-- 0 root (0) root (0) 94026 2024-02-25 16:27:12.000000 ./usr/share/doc/open3d-doc/python/html/python_api/open3d.t.geometry.html\n -rw-r--r-- 0 root 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re\n-0002b790: 6d6f 7665 5f69 6e66 696e 6974 653c 2f73 move_infinite
Tuple of f\n-0002b850: 696c 7465 7265 6420 706f 696e 7420 636c iltered point cl\n-0002b860: 6f75 6420 616e 6420 626f 6f6c 6561 6e20 oud and boolean \n-0002b870: 6d61 736b 2074 656e 736f 7220 666f 7220 mask tensor for \n-0002b880: 7365 6c65 6374 6564 2076 616c 7565 730a selected values.\n-0002b890: 772e 722e 742e 2069 6e70 7574 2070 6f69 w.r.t. input poi\n-0002b8a0: 6e74 2063 6c6f 7564 2e3c 2f70 3e0a 3c2f nt cloud.
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sear\n-0002bd80: 6368 5f72 6164 6975 733c 2f73 7472 6f6e ch_radius ... Radius of\n-0002bda0: 2074 6865 2073 7068 6572 652e 3c2f 703e the sphere.
\n-0002bdb0: 3c2f 6c69 3e0a 3c2f 756c 3e0a 3c2f 6464Tupl\n-0002be20: 6520 6f66 2066 696c 7465 7265 6420 706f e of filtered po\n-0002be30: 696e 7420 636c 6f75 6420 616e 6420 626f int cloud and bo\n-0002be40: 6f6c 6561 6e20 6d61 736b 2074 656e 736f olean mask tenso\n-0002be50: 7220 666f 7220 7365 6c65 6374 6564 2076 r for selected v\n-0002be60: 616c 7565 730a 772e 722e 742e 2069 6e70 alues.w.r.t. inp\n-0002be70: 7574 2070 6f69 6e74 2063 6c6f 7564 2e3c ut point cloud.<\n-0002be80: 2f70 3e0a 3c2f 6464 3e0a 3c64 7420 636c /p>.
Remove poi\n-0002c690: 6e74 7320 7468 6174 2061 7265 2066 7572 nts that are fur\n-0002c6a0: 7468 6572 2061 7761 7920 6672 6f6d 2074 ther away from t\n-0002c6b0: 6865 6972 2070 206e 625f 6e65 6967 6862 heir p nb_neighb\n-0002c6c0: 6f72 0a6e 6569 6768 626f 7273 2069 6e20 or.neighbors in \n-0002c6d0: 6176 6572 6167 652e 2054 6869 7320 6675 average. This fu\n-0002c6e0: 6e63 7469 6f6e 2069 7320 6e6f 7420 7265 nction is not re\n-0002c6f0: 636f 6d6d 656e 6465 6420 746f 2075 7365 commended to use\n-0002c700: 206f 6e20 4750 552e 3c2f 703e 0a3c 646c on GPU.
.<\n-0002c7a0: 7374 726f 6e67 3e6e 625f 6e65 6967 6862 strong>nb_neighb\n-0002c7b0: 6f72 733c 2f73 7472 6f6e 673e 20e2 8093 ors ...\n-0002c7c0: 204e 756d 6265 7220 6f66 206e 6569 6768 Number of neigh\n-0002c7d0: 626f 7273 2061 726f 756e 6420 7468 6520 bors around the \n-0002c7e0: 7461 7267 6574 2070 6f69 6e74 2e3c 2f70 target point.
std_ratio<\n-0002c810: 2f73 7472 6f6e 673e 20e2 8093 2053 7461 /strong> ... Sta\n-0002c820: 6e64 6172 6420 6465 7669 6174 696f 6e20 ndard deviation \n-0002c830: 7261 7469 6f2e 3c2f 703e 3c2f 6c69 3e0a ratio.
Tuple of f\n-0002c8b0: 696c 7465 7265 6420 706f 696e 7420 636c iltered point cl\n-0002c8c0: 6f75 6420 616e 6420 626f 6f6c 6561 6e20 oud and boolean \n-0002c8d0: 6d61 736b 2074 656e 736f 7220 666f 7220 mask tensor for \n-0002c8e0: 7365 6c65 6374 6564 2076 616c 7565 730a selected values.\n-0002c8f0: 772e 722e 742e 2069 6e70 7574 2070 6f69 w.r.t. input poi\n-0002c900: 6e74 2063 6c6f 7564 2e3c 2f70 3e0a 3c2f nt cloud.
.\n-0002c910: 6464 3e0a 3c2f 646c 3e0a 3c2f 6464 3e3c dd>.Rotate poi\n-0002cfe0: 6e74 7320 616e 6420 6e6f 726d 616c 7320 nts and normals \n-0002cff0: 2869 6620 6578 6973 7429 2e3c 2f70 3e0a (if exist).
.\n-0002d000: 3c2f 6464 3e3c 2f64 6c3e 0a0a 3c64 6c20Scale\n-0002d630: 2070 6f69 6e74 732e 3c2f 703e 0a3c 2f64 points.
.Segme\n-0002e1a0: 6e74 7320 6120 706c 616e 6520 696e 2074 nts a plane in t\n-0002e1b0: 6865 2070 6f69 6e74 2063 6c6f 7564 2075 he point cloud u\n-0002e1c0: 7369 6e67 2074 6865 2052 414e 5341 4320 sing the RANSAC \n-0002e1d0: 616c 676f 7269 7468 6d2e 0a54 6869 7320 algorithm..This \n-0002e1e0: 6973 2061 2077 7261 7070 6572 2066 6f72 is a wrapper for\n-0002e1f0: 2061 2043 5055 2069 6d70 6c65 6d65 6e74 a CPU implement\n-0002e200: 6174 696f 6e20 616e 6420 6120 636f 7079 ation and a copy\n-0002e210: 206f 6620 7468 6520 706f 696e 7420 636c of the point cl\n-0002e220: 6f75 6420 6461 7461 2061 6e64 0a72 6573 oud data and.res\n-0002e230: 756c 7469 6e67 2070 6c61 6e65 206d 6f64 ulting plane mod\n-0002e240: 656c 2061 6e64 2069 6e6c 6965 7220 696e el and inlier in\n-0002e250: 6469 6563 7320 7769 6c6c 2062 6520 6d61 diecs will be ma\n-0002e260: 6465 2e3c 2f70 3e0a 3c64 6c20 636c 6173 de.
.<\n-0002e3a0: 7374 726f 6e67 3e72 616e 7361 635f 6e3c strong>ransac_n<\n-0002e3b0: 2f73 7472 6f6e 673e 2028 3c65 6d3e 6465 /strong> (de\n-0002e3c0: 6661 756c 7420 333c 2f65 6d3e 2920 e280 fault 3) ..\n-0002e3d0: 9320 4e75 6d62 6572 206f 6620 696e 6974 . Number of init\n-0002e3e0: 6961 6c20 706f 696e 7473 2074 6f20 6265 ial points to be\n-0002e3f0: 2063 6f6e 7369 6465 7265 6420 696e 6c69 considered inli\n-0002e400: 6572 7320 696e 2065 6163 6820 6974 6572 ers in each iter\n-0002e410: 6174 696f 6e2e 3c2f 703e 3c2f 6c69 3e0a ation.
n\n-0002e430: 756d 5f69 7465 7261 7469 6f6e 733c 2f73 um_iterations
\n-0002e490: 3c73 7472 6f6e 673e 7072 6f62 6162 696c probabil\n-0002e4a0: 6974 793c 2f73 7472 6f6e 673e 2028 3c65 ity (
Tupl\n-0002e570: 6520 6f66 2074 6865 2070 6c61 6e65 206d e of the plane m\n-0002e580: 6f64 656c 203c 6369 7465 3e61 7820 2b20 odel ax + \n-0002e590: 6279 202b 2063 7a20 2b20 6420 3d20 303c by + cz + d = 0<\n-0002e5a0: 2f63 6974 653e 2061 6e64 2074 6865 2069 /cite> and the i\n-0002e5b0: 6e64 6963 6573 206f 660a 7468 6520 706c ndices of.the pl\n-0002e5c0: 616e 6520 696e 6c69 6572 7320 6f6e 2074 ane inliers on t\n-0002e5d0: 6865 2073 616d 6520 6465 7669 6365 2061 he same device a\n-0002e5e0: 7320 7468 6520 706f 696e 7420 636c 6f75 s the point clou\n-0002e5f0: 642e 3c2f 703e 0a3c 2f64 643e 0a3c 2f64 d.
.Example
\n-0002e620: 0a3c 703e 5765 2075 7365 2052 6564 776f .We use Redwo\n-0002e630: 6f64 2064 6174 6173 6574 2074 6f20 636f od dataset to co\n-0002e640: 6d70 7574 6520 6974 7320 706c 616e 6520 mpute its plane \n-0002e650: 6d6f 6465 6c20 616e 6420 696e 6c69 6572 model and inlier\n-0002e660: 733a 3c2f 703e 0a3c 6469 7620 636c 6173 s:
.sampl\n-0002e6d0: 655f 7063 645f 6461 7461 3c2f 7370 616e e_pcd_data = o3d\n-0002e710: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>.().dat\n-0002e740: 613c 2f73 7061 6e3e 3c73 7061 6e20 636c a .\n-0002e760: 3c73 7061 6e20 636c 6173 733d 226e 223e \n-0002e770: 5043 4450 6f69 6e74 436c 6f75 643c 2f73 PCDPointCloudpc\n-0002e7b0: 643c 2f73 7061 6e3e 203c 7370 616e 2063 d = o3dt. .io , \n+0002a4c0: 3c65 6d20 636c 6173 733d 2273 6967 2d70 sampling\n+0002a500: 5f72 6174 696f 3c2f 7370 616e 3e3c 2f73 _ratio)....\n-0002e860: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>read_point_\n-0002e880: 636c 6f75 643c 2f73 7061 6e3e 3c73 7061 cloud (sample_pcd_d\n-0002e8c0: 6174 613c 2f73 7061 6e3e 3c73 7061 6e20 ata. path)\n-0002e910: 7370 616e 3e0a 3c73 7061 6e20 636c 6173 span>.plane_mode\n-0002e930: 6c3c 2f73 7061 6e3e 3c73 7061 6e20 636c l,\n-0002e950: 203c 7370 616e 2063 6c61 7373 3d22 6e22 inliers \n-0002e970: 3c73 7061 6e20 636c 6173 733d 226f 223e \n-0002e980: 3d3c 2f73 7061 6e3e 203c 7370 616e 2063 = pcd .segme\n-0002e9d0: 6e74 5f70 6c61 6e65 3c2f 7370 616e 3e3c nt_plane<\n-0002e9e0: 7370 616e 2063 6c61 7373 3d22 7022 3e28 span class=\"p\">(\n-0002e9f0: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 distance_\n-0002ea10: 7468 7265 7368 6f6c 643c 2f73 7061 6e3e threshold\n-0002ea20: 3c73 7061 6e20 636c 6173 733d 226f 223e \n-0002ea30: 3d3c 2f73 7061 6e3e 3c73 7061 6e20 636c =0.01,. \n+00029f70: 302c 2030 7832 3165 3264 6331 305d 2c20 0, 0x21e2dc10], \n+00029f80: 6465 7074 685f 7363 616c 653a 2066 6c6f depth_scale: flo\n+00029f90: 6174 203d 2031 3030 302e 302c 2064 6570 at = 1000.0, dep\n+00029fa0: 7468 5f6d 6178 3a20 666c 6f61 7420 3d20 th_max: float = \n+00029fb0: 332e 3029 202d 2667 743b 206f 7065 6e33 3.0) -> open3\n+00029fc0: 643a 3a74 3a3a 6765 6f6d 6574 7279 3a3a d::t::geometry::\n+00029fd0: 496d 6167 653c 2f70 3e0a 3c70 3e50 726f Image.Pro\n+00029fe0: 6a65 6374 2061 2070 6f69 6e74 2063 6c6f ject a point clo\n+00029ff0: 7564 2074 6f20 6120 6465 7074 6820 696d ud to a depth im\n+0002a000: 6167 652e 3c2f 703e 0a3c 2f64 643e 3c2f age.
.\n+0002a010: 646c 3e0a 0a3c 646c 2063 6c61 7373 3d22 dl>...
\n+0002a390: 0a0a 3c64 6c20 636c 6173 733d 2270 7920 ..- .project_to_\n+0002a0c0: 7267 6264 5f69 6d61 6765 3c2f 7370 616e rgbd_image\n+0002a0f0: 283c 2f73 7061 6e3e 3c73 7061 6e20 636c (\n+0002a110: 293c 2f73 7061 6e3e 3c61 2063 6c61 7373 )..<\n+0002a190: 2f64 743e 0a3c 6464 3e3c 646c 2063 6c61 /dt>.
.
.- project_to_rgbd\n+0002a1c0: 5f69 6d61 6765 2873 656c 663a 206f 7065 _image(self: ope\n+0002a1d0: 6e33 642e 6370 752e 7079 6269 6e64 2e74 n3d.cpu.pybind.t\n+0002a1e0: 2e67 656f 6d65 7472 792e 506f 696e 7443 .geometry.PointC\n+0002a1f0: 6c6f 7564 2c20 7769 6474 683a 2069 6e74 loud, width: int\n+0002a200: 2c20 6865 6967 6874 3a20 696e 742c 2069 , height: int, i\n+0002a210: 6e74 7269 6e73 6963 733a 206f 7065 6e33 ntrinsics: open3\n+0002a220: 642e 6370 752e 7079 6269 6e64 2e63 6f72 d.cpu.pybind.cor\n+0002a230: 652e 5465 6e73 6f72 2c20 6578 7472 696e e.Tensor, extrin\n+0002a240: 7369 6373 3a20 6f70 656e 3364 2e63 7075 sics: open3d.cpu\n+0002a250: 2e70 7962 696e 642e 636f 7265 2e54 656e .pybind.core.Ten\n+0002a260: 736f 7220 3d20 5b5b 3120 3020 3020 305d sor = [[1 0 0 0]\n+0002a270: 2c3c 2f64 743e 3c64 643e 3c70 3e5b 3020 ,
- .
[0 \n+0002a280: 3120 3020 305d 2c0a 5b30 2030 2031 2030 1 0 0],.[0 0 1 0\n+0002a290: 5d2c 0a5b 3020 3020 3020 315d 5d3c 2f70 ],.[0 0 0 1]]
.Tensor[shape={4\n+0002a2c0: 2c20 347d 2c20 7374 7269 6465 3d7b 342c , 4}, stride={4,\n+0002a2d0: 2031 7d2c 2046 6c6f 6174 3332 2c20 4350 1}, Float32, CP\n+0002a2e0: 553a 302c 2030 7832 3165 3265 3730 305d U:0, 0x21e2e700]\n+0002a2f0: 2c20 6465 7074 685f 7363 616c 653a 2066 , depth_scale: f\n+0002a300: 6c6f 6174 203d 2031 3030 302e 302c 2064 loat = 1000.0, d\n+0002a310: 6570 7468 5f6d 6178 3a20 666c 6f61 7420 epth_max: float \n+0002a320: 3d20 332e 3029 202d 2667 743b 206f 7065 = 3.0) -> ope\n+0002a330: 6e33 643a 3a74 3a3a 6765 6f6d 6574 7279 n3d::t::geometry\n+0002a340: 3a3a 5247 4244 496d 6167 653c 2f70 3e0a ::RGBDImage
.\n+0002a350: 3c70 3e50 726f 6a65 6374 2061 2063 6f6cProject a col\n+0002a360: 6f72 6564 2070 6f69 6e74 2063 6c6f 7564 ored point cloud\n+0002a370: 2074 6f20 6120 5247 4244 2069 6d61 6765 to a RGBD image\n+0002a380: 2e3c 2f70 3e0a 3c2f 6464 3e3c 2f64 6c3e .
..
<\n+0002a450: 7370 616e 2063 6c61 7373 3d22 7369 672d span class=\"sig-\n+0002a460: 7061 7265 6e22 3e28 3c2f 7370 616e 3e3c paren\">(<\n+0002a470: 656d 2063 6c61 7373 3d22 7369 672d 7061 em class=\"sig-pa\n+0002a480: 7261 6d22 3e3c 7370 616e 2063 6c61 7373 ram\">self- .
r\n+0002a430: 616e 646f 6d5f 646f 776e 5f73 616d 706c andom_down_sampl\n+0002a440: 653c 2f73 7061 6e3e 3c2f 7370 616e 3e3c e
Downsa\n+0002a5c0: 6d70 6c65 2061 2070 6f69 6e74 636c 6f75 mple a pointclou\n+0002a5d0: 6420 6279 2073 656c 6563 7469 6e67 2072 d by selecting r\n+0002a5e0: 616e 646f 6d20 696e 6465 7820 706f 696e andom index poin\n+0002a5f0: 7420 616e 6420 6974 7320 6174 7472 6962 t and its attrib\n+0002a600: 7574 6573 2e3c 2f70 3e0a 3c64 6c20 636c utes.
.samp\n+0002a690: 6c69 6e67 5f72 6174 696f 3c2f 7374 726f ling_ratio (float\n+0002a6b0: 656d 3e29 20e2 8093 2053 616d 706c 696e em>) ... Samplin\n+0002a6c0: 6720 7261 7469 6f2c 2074 6865 2072 6174 g ratio, the rat\n+0002a6d0: 696f 206f 6620 7361 6d70 6c65 2074 6f20 io of sample to \n+0002a6e0: 746f 7461 6c20 6e75 6d62 6572 206f 6620 total number of \n+0002a6f0: 706f 696e 7473 2069 6e20 7468 6520 706f points in the po\n+0002a700: 696e 7463 6c6f 7564 2e3c 2f70 3e0a 3c2f intcloud.
.\n+0002a710: 6464 3e0a 3c64 7420 636c 6173 733d 2266 dd>.op\n+0002a770: 656e 3364 2e74 2e67 656f 6d65 7472 792e en3d.t.geometry.\n+0002a780: 506f 696e 7443 6c6f 7564 3c2f 703e 0a3c PointCloud
.<\n+0002a790: 2f64 643e 0a3c 2f64 6c3e 0a3c 2f64 643e /dd>.Remove dupl\n+0002ad50: 6963 6174 6564 2070 6f69 6e74 7320 616e icated points an\n+0002ad60: 6420 7468 6572 6520 6173 736f 6369 6174 d there associat\n+0002ad70: 6564 2061 7474 7269 6275 7465 732e 3c2f ed attributes.\n+0002ad80: 703e 0a3c 2f64 643e 3c2f 646c 3e0a 0a3c p>.
Remo\n+0002b620: 7665 2061 6c6c 2070 6f69 6e74 7320 6672 ve all points fr\n+0002b630: 6f6d 2074 6865 2070 6f69 6e74 2063 6c6f om the point clo\n+0002b640: 7564 2074 6861 7420 6861 7665 2061 206e ud that have a n\n+0002b650: 616e 2065 6e74 7279 2c20 6f72 0a69 6e66 an entry, or.inf\n+0002b660: 696e 6974 6520 7661 6c75 652e 2049 7420 inite value. It \n+0002b670: 616c 736f 2072 656d 6f76 6573 2074 6865 also removes the\n+0002b680: 2063 6f72 7265 7370 6f6e 6469 6e67 2061 corresponding a\n+0002b690: 7474 7269 6275 7465 732e 3c2f 703e 0a3c ttributes.
.<\n+0002b6a0: 646c 2063 6c61 7373 3d22 6669 656c 642d dl class=\"field-\n+0002b6b0: 6c69 7374 2073 696d 706c 6522 3e0a 3c64 list simple\">.remove_\n+0002b740: 6e61 6e3c 2f73 7472 6f6e 673e 20e2 8093 nan ...\n+0002b750: 2052 656d 6f76 6520 4e61 4e20 7661 6c75 Remove NaN valu\n+0002b760: 6573 2066 726f 6d20 7468 6520 506f 696e es from the Poin\n+0002b770: 7443 6c6f 7564 2e3c 2f70 3e3c 2f6c 693e tCloud.
\n+0002b790: 7265 6d6f 7665 5f69 6e66 696e 6974 653c remove_infinite<\n+0002b7a0: 2f73 7472 6f6e 673e 20e2 8093 2052 656d /strong> ... Rem\n+0002b7b0: 6f76 6520 696e 6669 6e69 7465 2076 616c ove infinite val\n+0002b7c0: 7565 7320 6672 6f6d 2074 6865 2050 6f69 ues from the Poi\n+0002b7d0: 6e74 436c 6f75 642e 3c2f 703e 3c2f 6c69 ntCloud.
Tuple of\n+0002b850: 2066 696c 7465 7265 6420 706f 696e 7420 filtered point \n+0002b860: 636c 6f75 6420 616e 6420 626f 6f6c 6561 cloud and boolea\n+0002b870: 6e20 6d61 736b 2074 656e 736f 7220 666f n mask tensor fo\n+0002b880: 7220 7365 6c65 6374 6564 2076 616c 7565 r selected value\n+0002b890: 730a 772e 722e 742e 2069 6e70 7574 2070 s.w.r.t. input p\n+0002b8a0: 6f69 6e74 2063 6c6f 7564 2e3c 2f70 3e0a oint cloud.
.\n+0002b8b0: 3c2f 6464 3e0a 3c2f 646c 3e0a 3c2f 6464 ....Remove points t\n+0002bb60: 6861 7420 6861 7665 206c 6573 7320 7468 hat have less th\n+0002bb70: 616e 206e 625f 706f 696e 7473 206e 6569 an nb_points nei\n+0002bb80: 6768 626f 7273 2069 6e20 610a 7370 6865 ghbors in a.sphe\n+0002bb90: 7265 206f 6620 6120 6769 7665 6e20 7365 re of a given se\n+0002bba0: 6172 6368 2072 6164 6975 732e 3c2f 703e arch radius.
\n+0002bbb0: 0a3c 646c 2063 6c61 7373 3d22 6669 656c .nb_po\n+0002bc50: 696e 7473 3c2f 7374 726f 6e67 3e20 283c ints (<\n+0002bc60: 656d 3e69 6e74 3c2f 656d 3e29 20e2 8093 em>int) ...\n+0002bc70: 204e 756d 6265 7220 6f66 206e 6569 6768 Number of neigh\n+0002bc80: 626f 7220 706f 696e 7473 2072 6571 7569 bor points requi\n+0002bc90: 7265 6420 7769 7468 696e 2074 6865 2072 red within the r\n+0002bca0: 6164 6975 732e 3c2f 703e 3c2f 6c69 3e0a adius.
s\n+0002bcc0: 6561 7263 685f 7261 6469 7573 3c2f 7374 earch_radius (float\n+0002bce0: 3c2f 656d 3e29 20e2 8093 2052 6164 6975 ) ... Radiu\n+0002bcf0: 7320 6f66 2074 6865 2073 7068 6572 652e s of the sphere.\n+0002bd00: 3c2f 703e 3c2f 6c69 3e0a 3c6c 693e 3c70
nb_poin\n+0002bd20: 7473 3c2f 7374 726f 6e67 3e20 e280 9320 ts ... \n+0002bd30: 4e75 6d62 6572 206f 6620 6e65 6967 6862 Number of neighb\n+0002bd40: 6f72 2070 6f69 6e74 7320 7265 7175 6972 or points requir\n+0002bd50: 6564 2077 6974 6869 6e20 7468 6520 7261 ed within the ra\n+0002bd60: 6469 7573 2e3c 2f70 3e3c 2f6c 693e 0a3c dius.
se\n+0002bd80: 6172 6368 5f72 6164 6975 733c 2f73 7472 arch_radius ... Radius \n+0002bda0: 6f66 2074 6865 2073 7068 6572 652e 3c2f of the sphere.\n+0002bdb0: 703e 3c2f 6c69 3e0a 3c2f 756c 3e0a 3c2f p>.
Tu\n+0002be20: 706c 6520 6f66 2066 696c 7465 7265 6420 ple of filtered \n+0002be30: 706f 696e 7420 636c 6f75 6420 616e 6420 point cloud and \n+0002be40: 626f 6f6c 6561 6e20 6d61 736b 2074 656e boolean mask ten\n+0002be50: 736f 7220 666f 7220 7365 6c65 6374 6564 sor for selected\n+0002be60: 2076 616c 7565 730a 772e 722e 742e 2069 values.w.r.t. i\n+0002be70: 6e70 7574 2070 6f69 6e74 2063 6c6f 7564 nput point cloud\n+0002be80: 2e3c 2f70 3e0a 3c2f 6464 3e0a 3c64 7420 .
.Tuple[open3d\n+0002bef0: 2e74 2e67 656f 6d65 7472 792e 506f 696e .t.geometry.Poin\n+0002bf00: 7443 6c6f 7564 2c20 6f70 656e 3364 2e63 tCloud, open3d.c\n+0002bf10: 6f72 652e 5465 6e73 6f72 5d3c 2f70 3e0a ore.Tensor]
.\n+0002bf20: 3c2f 6464 3e0a 3c2f 646c 3e0a 3c2f 6464Remove p\n+0002c690: 6f69 6e74 7320 7468 6174 2061 7265 2066 oints that are f\n+0002c6a0: 7572 7468 6572 2061 7761 7920 6672 6f6d urther away from\n+0002c6b0: 2074 6865 6972 2070 206e 625f 6e65 6967 their p nb_neig\n+0002c6c0: 6862 6f72 0a6e 6569 6768 626f 7273 2069 hbor.neighbors i\n+0002c6d0: 6e20 6176 6572 6167 652e 2054 6869 7320 n average. This \n+0002c6e0: 6675 6e63 7469 6f6e 2069 7320 6e6f 7420 function is not \n+0002c6f0: 7265 636f 6d6d 656e 6465 6420 746f 2075 recommended to u\n+0002c700: 7365 206f 6e20 4750 552e 3c2f 703e 0a3c se on GPU.
.<\n+0002c710: 646c 2063 6c61 7373 3d22 6669 656c 642d dl class=\"field-\n+0002c720: 6c69 7374 2073 696d 706c 6522 3e0a 3c64 list simple\">.nb_neig\n+0002c7b0: 6862 6f72 733c 2f73 7472 6f6e 673e 20e2 hbors .\n+0002c7c0: 8093 204e 756d 6265 7220 6f66 206e 6569 .. Number of nei\n+0002c7d0: 6768 626f 7273 2061 726f 756e 6420 7468 ghbors around th\n+0002c7e0: 6520 7461 7267 6574 2070 6f69 6e74 2e3c e target point.<\n+0002c7f0: 2f70 3e3c 2f6c 693e 0a3c 6c69 3e3c 703e /p>
\n+0002c800: 3c73 7472 6f6e 673e 7374 645f 7261 7469 std_rati\n+0002c810: 6f3c 2f73 7472 6f6e 673e 20e2 8093 2053 o ... S\n+0002c820: 7461 6e64 6172 6420 6465 7669 6174 696f tandard deviatio\n+0002c830: 6e20 7261 7469 6f2e 3c2f 703e 3c2f 6c69 n ratio.
Tuple of\n+0002c8b0: 2066 696c 7465 7265 6420 706f 696e 7420 filtered point \n+0002c8c0: 636c 6f75 6420 616e 6420 626f 6f6c 6561 cloud and boolea\n+0002c8d0: 6e20 6d61 736b 2074 656e 736f 7220 666f n mask tensor fo\n+0002c8e0: 7220 7365 6c65 6374 6564 2076 616c 7565 r selected value\n+0002c8f0: 730a 772e 722e 742e 2069 6e70 7574 2070 s.w.r.t. input p\n+0002c900: 6f69 6e74 2063 6c6f 7564 2e3c 2f70 3e0a oint cloud.
.\n+0002c910: 3c2f 6464 3e0a 3c2f 646c 3e0a 3c2f 6464Rotate p\n+0002cfe0: 6f69 6e74 7320 616e 6420 6e6f 726d 616c oints and normal\n+0002cff0: 7320 2869 6620 6578 6973 7429 2e3c 2f70 s (if exist).
.Sca\n+0002d630: 6c65 2070 6f69 6e74 732e 3c2f 703e 0a3c le points.
.<\n+0002d640: 2f64 643e 3c2f 646c 3e0a 0a3c 646c 2063 /dd>..Seg\n+0002e1a0: 6d65 6e74 7320 6120 706c 616e 6520 696e ments a plane in\n+0002e1b0: 2074 6865 2070 6f69 6e74 2063 6c6f 7564 the point cloud\n+0002e1c0: 2075 7369 6e67 2074 6865 2052 414e 5341 using the RANSA\n+0002e1d0: 4320 616c 676f 7269 7468 6d2e 0a54 6869 C algorithm..Thi\n+0002e1e0: 7320 6973 2061 2077 7261 7070 6572 2066 s is a wrapper f\n+0002e1f0: 6f72 2061 2043 5055 2069 6d70 6c65 6d65 or a CPU impleme\n+0002e200: 6e74 6174 696f 6e20 616e 6420 6120 636f ntation and a co\n+0002e210: 7079 206f 6620 7468 6520 706f 696e 7420 py of the point \n+0002e220: 636c 6f75 6420 6461 7461 2061 6e64 0a72 cloud data and.r\n+0002e230: 6573 756c 7469 6e67 2070 6c61 6e65 206d esulting plane m\n+0002e240: 6f64 656c 2061 6e64 2069 6e6c 6965 7220 odel and inlier \n+0002e250: 696e 6469 6563 7320 7769 6c6c 2062 6520 indiecs will be \n+0002e260: 6d61 6465 2e3c 2f70 3e0a 3c64 6c20 636c made.
.ransac_\n+0002e3b0: 6e3c 2f73 7472 6f6e 673e 2028 3c65 6d3e n (\n+0002e3c0: 6465 6661 756c 7420 333c 2f65 6d3e 2920 default 3) \n+0002e3d0: e280 9320 4e75 6d62 6572 206f 6620 696e ... Number of in\n+0002e3e0: 6974 6961 6c20 706f 696e 7473 2074 6f20 itial points to \n+0002e3f0: 6265 2063 6f6e 7369 6465 7265 6420 696e be considered in\n+0002e400: 6c69 6572 7320 696e 2065 6163 6820 6974 liers in each it\n+0002e410: 6572 6174 696f 6e2e 3c2f 703e 3c2f 6c69 eration.
num_iterations<\n+0002e440: 2f73 7472 6f6e 673e 2028 3c65 6d3e 6465 /strong> (de\n+0002e450: 6661 756c 7420 3130 303c 2f65 6d3e 2920 fault 100) \n+0002e460: e280 9320 4d61 7869 6d75 6d20 6e75 6d62 ... Maximum numb\n+0002e470: 6572 206f 6620 6974 6572 6174 696f 6e73 er of iterations\n+0002e480: 2e3c 2f70 3e3c 2f6c 693e 0a3c 6c69 3e3c .
Tu\n+0002e570: 706c 6520 6f66 2074 6865 2070 6c61 6e65 ple of the plane\n+0002e580: 206d 6f64 656c 203c 6369 7465 3e61 7820 model ax \n+0002e590: 2b20 6279 202b 2063 7a20 2b20 6420 3d20 + by + cz + d = \n+0002e5a0: 303c 2f63 6974 653e 2061 6e64 2074 6865 0 and the\n+0002e5b0: 2069 6e64 6963 6573 206f 660a 7468 6520 indices of.the \n+0002e5c0: 706c 616e 6520 696e 6c69 6572 7320 6f6e plane inliers on\n+0002e5d0: 2074 6865 2073 616d 6520 6465 7669 6365 the same device\n+0002e5e0: 2061 7320 7468 6520 706f 696e 7420 636c as the point cl\n+0002e5f0: 6f75 642e 3c2f 703e 0a3c 2f64 643e 0a3c oud.
.Example\n+0002e620: 703e 0a3c 703e 5765 2075 7365 2052 6564 p>.
We use Red\n+0002e630: 776f 6f64 2064 6174 6173 6574 2074 6f20 wood dataset to \n+0002e640: 636f 6d70 7574 6520 6974 7320 706c 616e compute its plan\n+0002e650: 6520 6d6f 6465 6c20 616e 6420 696e 6c69 e model and inli\n+0002e660: 6572 733a 3c2f 703e 0a3c 6469 7620 636c ers:
.\n+0002e6b0: 3c73 7061 6e3e 3c2f 7370 616e 3e3c 7370sam\n+0002e6d0: 706c 655f 7063 645f 6461 7461 3c2f 7370 ple_pcd_data =o3d\n+0002e710: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 .<\n+0002e730: 7370 616e 2063 6c61 7373 3d22 6e22 3e64 span class=\"n\">d\n+0002e740: 6174 613c 2f73 7061 6e3e 3c73 7061 6e20 ata.PCDPointCloud<\n+0002e780: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>().\n+0002e7a0: 3c73 7061 6e20 636c 6173 733d 226e 223e \n+0002e7b0: 7063 643c 2f73 7061 6e3e 203c 7370 616e pcd = o3d.<\n+0002e800: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>t.<\n+0002e830: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>io<\n+0002e850: 7370 616e 2063 6c61 7373 3d22 6f22 3e2e span class=\"o\">.\n+0002e860: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 read_poin\n+0002e880: 745f 636c 6f75 643c 2f73 7061 6e3e 3c73 t_cloud(<\n+0002e8a0: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>sample_pcd\n+0002e8c0: 5f64 6174 613c 2f73 7061 6e3e 3c73 7061 _datapath<\n+0002e900: 7370 616e 2063 6c61 7373 3d22 7022 3e29 span class=\"p\">)\n+0002e910: 3c2f 7370 616e 3e0a 3c73 7061 6e20 636c .plane_mo\n+0002e930: 6465 6c3c 2f73 7061 6e3e 3c73 7061 6e20 del, inliers = pcd\n+0002e9a0: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>.. seg\n+0002e9d0: 6d65 6e74 5f70 6c61 6e65 3c2f 7370 616e ment_plane (distanc\n+0002ea10: 655f 7468 7265 7368 6f6c 643c 2f73 7061 e_threshold=0.01<\n+0002ea50: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>,. \n 0002ea70: 2020 2020 2020 2020 2020 2020 2020 2020 \n 0002ea80: 2020 2020 2020 2020 2020 2020 2020 2020 \n-0002ea90: 2020 2020 2020 3c73 7061 6e20 636c 6173 ransac_n\n-0002eab0: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>=3<\n-0002eae0: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>,. \n-0002eb00: 2020 2020 2020 2020 2020 2020 2020 2020 \n+0002ea90: 2020 2020 2020 2020 3c73 7061 6e20 636c ransac_n\n+0002eab0: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 =<\n+0002ead0: 7370 616e 2063 6c61 7373 3d22 6d69 223e span class=\"mi\">\n+0002eae0: 333c 2f73 7061 6e3e 3c73 7061 6e20 636c 3 ,\n+0002eb00: 0a20 2020 2020 2020 2020 2020 2020 2020 . \n 0002eb10: 2020 2020 2020 2020 2020 2020 2020 2020 \n-0002eb20: 2020 2020 2020 2020 3c73 7061 6e20 636c num_iter\n-0002eb40: 6174 696f 6e73 3c2f 7370 616e 3e3c 7370 ations=\n-0002eb60: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>1000).inlier\n-0002ebb0: 5f63 6c6f 7564 3c2f 7370 616e 3e20 3c73 _cloud inliers\n-0002ec60: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>).=<\n-0002ebd0: 2f73 7061 6e3e 203c 7370 616e 2063 6c61 /span> pcd.select_\n-0002ec20: 6279 5f69 6e64 6578 3c2f 7370 616e 3e3c by_index<\n-0002ec30: 7370 616e 2063 6c61 7373 3d22 7022 3e28 span class=\"p\">(\n-0002ec40: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61in\n-0002ec90: 6c69 6572 5f63 6c6f 7564 3c2f 7370 616e lier_cloud= inlie\n-0002ecd0: 725f 636c 6f75 643c 2f73 7061 6e3e 3c73 r_cloud.<\n-0002ecf0: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>paint_unif\n-0002ed10: 6f72 6d5f 636f 6c6f 723c 2f73 7061 6e3e orm_color\n-0002ed20: 3c73 7061 6e20 636c 6173 733d 2270 223e \n-0002ed30: 285b 3c2f 7370 616e 3e3c 7370 616e 2063 ([1.0,0<\n-0002ed80: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>, <\n-0002eda0: 7370 616e 2063 6c61 7373 3d22 6d69 223e span class=\"mi\">\n-0002edb0: 303c 2f73 7061 6e3e 3c73 7061 6e20 636c 0 ]).outlier_cloud<\n-0002edf0: 2f73 7061 6e3e 203c 7370 616e 2063 6c61 /span> = \n-0002ee10: 3c73 7061 6e20 636c 6173 733d 226e 223e \n-0002ee20: 7063 643c 2f73 7061 6e3e 3c73 7061 6e20 pcd.select_by_inde\n-0002ee60: 783c 2f73 7061 6e3e 3c73 7061 6e20 636c x(\n-0002ee80: 3c73 7061 6e20 636c 6173 733d 226e 223e \n-0002ee90: 696e 6c69 6572 733c 2f73 7061 6e3e 3c73 inliers,<\n-0002eeb0: 2f73 7061 6e3e 203c 7370 616e 2063 6c61 /span> invert=Tru\n-0002ef00: 653c 2f73 7061 6e3e 3c73 7061 6e20 636c e )\n-0002ef20: 0a3c 7370 616e 2063 6c61 7373 3d22 6e22 .o3d.visualization\n-0002ef70: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 .<\n-0002ef90: 7370 616e 2063 6c61 7373 3d22 6e22 3e64 span class=\"n\">d\n-0002efa0: 7261 773c 2f73 7061 6e3e 3c73 7061 6e20 raw([inlier_cloud<\n-0002efe0: 2f73 7061 6e3e 3c73 7061 6e20 636c 6173 /span>, <\n-0002f000: 7370 616e 2063 6c61 7373 3d22 6e22 3e6f span class=\"n\">o\n-0002f010: 7574 6c69 6572 5f63 6c6f 7564 3c2f 7370 utlier_cloud]).
Select\n-0002f410: 2070 6f69 6e74 7320 6672 6f6d 2069 6e70 points from inp\n-0002f420: 7574 2070 6f69 6e74 636c 6f75 642c 2062 ut pointcloud, b\n-0002f430: 6173 6564 206f 6e20 696e 6469 6365 7320 ased on indices \n-0002f440: 696e 746f 206f 7574 7075 7420 706f 696e into output poin\n-0002f450: 7420 636c 6f75 642e 3c2f 703e 0a3c 646c t cloud.
.<\n-0002f4f0: 7374 726f 6e67 3e69 6e64 6963 6573 3c2f strong>indices\n-0002f500: 7374 726f 6e67 3e20 283c 6120 636c 6173 strong> (open3d.c\n-0002f580: 6f72 652e 5465 6e73 6f72 3c2f 656d 3e3c ore.Tensor<\n-0002f590: 2f61 3e29 20e2 8093 2049 6e74 3634 2069 /a>) ... Int64 i\n-0002f5a0: 6e64 6578 696e 6720 7465 6e73 6f72 206f ndexing tensor o\n-0002f5b0: 6620 7368 6170 6520 7b6e 2c7d 2063 6f6e f shape {n,} con\n-0002f5c0: 7461 696e 696e 6720 696e 6465 7820 7661 taining index va\n-0002f5d0: 6c75 6520 7468 6174 2069 7320 746f 2062 lue that is to b\n-0002f5e0: 6520 7365 6c65 6374 6564 2e3c 2f70 3e3c e selected.
<\n-0002f5f0: 2f6c 693e 0a3c 6c69 3e3c 703e 3c73 7472 /li>.open3d.t\n-0002f800: 2e67 656f 6d65 7472 792e 506f 696e 7443 .geometry.PointC\n-0002f810: 6c6f 7564 3c2f 703e 0a3c 2f64 643e 0a3c loud
..<\n-0002f820: 2f64 6c3e 0a3c 2f64 643e 3c2f 646c 3e0a /dl>..\n-0002f830: 0a3c 646c 2063 6c61 7373 3d22 7079 206d .\n-0002fb10: 5365 6c65 6374 2070 6f69 6e74 7320 6672 Select points fr\n-0002fb20: 6f6d 2069 6e70 7574 2070 6f69 6e74 636c om input pointcl\n-0002fb30: 6f75 642c 2062 6173 6564 206f 6e20 626f oud, based on bo\n-0002fb40: 6f6c 6561 6e20 6d61 736b 2069 6e64 6963 olean mask indic\n-0002fb50: 6573 2069 6e74 6f20 6f75 7470 7574 2070 es into output p\n-0002fb60: 6f69 6e74 2063 6c6f 7564 2e3c 2f70 3e0a oint cloud.
.\n-0002fb70: 3c64 6c20 636c 6173 733d 2266 6965 6c64in\n-0002fd30: 7665 7274 3c2f 7374 726f 6e67 3e20 283c vert (<\n-0002fd40: 656d 3e62 6f6f 6c3c 2f65 6d3e 3c65 6d3e em>bool
open3\n-0002fe40: 642e 742e 6765 6f6d 6574 7279 2e50 6f69 d.t.geometry.Poi\n-0002fe50: 6e74 436c 6f75 643c 2f70 3e0a 3c2f 6464 ntCloud
.Transf\n-00030530: 6572 2074 6865 2070 6f69 6e74 2063 6c6f er the point clo\n-00030540: 7564 2074 6f20 6120 7370 6563 6966 6965 ud to a specifie\n-00030550: 6420 6465 7669 6365 2e3c 2f70 3e0a 3c2f d device.
.\n-00030560: 6464 3e3c 2f64 6c3e 0a0a 3c64 6c20 636c dd>..Conve\n-00030980: 7274 2074 6f20 6120 6c65 6761 6379 204f rt to a legacy O\n-00030990: 7065 6e33 4420 506f 696e 7443 6c6f 7564 pen3D PointCloud\n-000309a0: 2e3c 2f70 3e0a 3c2f 6464 3e3c 2f64 6c3e .
.Transforms \n-00030f20: 7468 6520 706f 696e 7473 2061 6e64 206e the points and n\n-00030f30: 6f72 6d61 6c73 2028 6966 2065 7869 7374 ormals (if exist\n-00030f40: 292e 3c2f 703e 0a3c 2f64 643e 3c2f 646c ).
.Translates\n-00031630: 2070 6f69 6e74 732e 3c2f 703e 0a3c 2f64 points.
.Downsamples \n-00031880: 6120 706f 696e 7420 636c 6f75 6420 6279 a point cloud by\n-00031890: 2073 656c 6563 7469 6e67 2065 7665 7279 selecting every\n-000318a0: 206b 7468 2069 6e64 6578 2070 6f69 6e74 kth index point\n-000318b0: 2061 6e64 2069 7473 2061 7474 7269 6275 and its attribu\n-000318c0: 7465 732e 3c2f 703e 0a3c 646c 2063 6c61 tes.
.every\n-00031950: 5f6b 5f70 6f69 6e74 733c 2f73 7472 6f6e _k_points (int\n-00031970: 2920 e280 9320 5361 6d70 6c65 2072 6174 ) ... Sample rat\n-00031980: 652c 2074 6865 2073 656c 6563 7465 6420 e, the selected \n-00031990: 706f 696e 7420 696e 6469 6365 7320 6172 point indices ar\n-000319a0: 6520 5b30 2c20 6b2c 2032 6b2c 20e2 80a6 e [0, k, 2k, ...\n-000319b0: 5d2e 3c2f 703e 0a3c 2f64 643e 0a3c 6474 ].
.open3d.t.\n-00031a20: 6765 6f6d 6574 7279 2e50 6f69 6e74 436c geometry.PointCl\n-00031a30: 6f75 643c 2f70 3e0a 3c2f 6464 3e0a 3c2f oud
.Downsa\n-00031d40: 6d70 6c65 7320 6120 706f 696e 7420 636c mples a point cl\n-00031d50: 6f75 6420 7769 7468 2061 2073 7065 6369 oud with a speci\n-00031d60: 6669 6564 2076 6f78 656c 2073 697a 652e fied voxel size.\n-00031d70: 3c2f 703e 0a3c 646c 2063 6c61 7373 3d22
.v\n-00031e10: 6f78 656c 5f73 697a 653c 2f73 7472 6f6e oxel_size (float) ... The size\n-00031e40: 206f 6620 7468 6520 766f 7865 6c20 7573 of the voxel us\n-00031e50: 6564 2074 6f20 646f 776e 7361 6d70 6c65 ed to downsample\n-00031e60: 2074 6865 2070 6f69 6e74 2063 6c6f 7564 the point cloud\n-00031e70: 2e3c 2f70 3e3c 2f6c 693e 0a3c 6c69 3e3c .
A downsample\n-00031f80: 6420 706f 696e 7420 636c 6f75 6420 7769 d point cloud wi\n-00031f90: 7468 2070 6f69 6e74 2070 726f 7065 7274 th point propert\n-00031fa0: 6965 7320 7265 6475 6365 6420 696e 2065 ies reduced in e\n-00031fb0: 6163 6820 766f 7865 6c2e 3c2f 703e 0a3c ach voxel.
.<\n-00031fc0: 2f64 643e 0a3c 2f64 6c3e 0a3c 7020 636c /dd>.Exa\n-00031fe0: 6d70 6c65 3c2f 703e 0a3c 703e 5765 2077 mple
.We w\n-00031ff0: 696c 6c20 6c6f 6164 2074 6865 2045 6167 ill load the Eag\n-00032000: 6c65 2064 6174 6173 6574 2c20 646f 776e le dataset, down\n-00032010: 7361 6d70 6c65 2069 742c 2061 6e64 2073 sample it, and s\n-00032020: 686f 7720 7468 6520 7265 7375 6c74 3a3c how the result:<\n-00032030: 2f70 3e0a 3c64 6976 2063 6c61 7373 3d22 /p>.
eagle =\n-000326a0: 6469 763e 0a3c 2f64 6976 3e0a 3c64 6c20 div>.o3\n-000320d0: 643c 2f73 7061 6e3e 3c73 7061 6e20 636c d.\n-000320f0: 3c73 7061 6e20 636c 6173 733d 226e 223e \n-00032100: 6461 7461 3c2f 7370 616e 3e3c 7370 616e data.EaglePointClo\n-00032140: 7564 3c2f 7370 616e 3e3c 7370 616e 2063 ud().pcd=<\n-00032190: 2f73 7061 6e3e 203c 7370 616e 2063 6c61 /span> o3d.t.io.read_p\n-00032240: 6f69 6e74 5f63 6c6f 7564 3c2f 7370 616e oint_cloud(eagle\n-00032280: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>..pat\n-000322b0: 683c 2f73 7061 6e3e 3c73 7061 6e20 636c h )\n-000322d0: 0a3c 7370 616e 2063 6c61 7373 3d22 6e22 .pcd_down\n-000322f0: 203c 7370 616e 2063 6c61 7373 3d22 6f22 = pcdvoxe\n-00032350: 6c5f 646f 776e 5f73 616d 706c 653c 2f73 l_down_sample( voxe\n-00032390: 6c5f 7369 7a65 3c2f 7370 616e 3e3c 7370 l_size =\n-000323b0: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>0.05).o3d. ([{visu\n-00032430: 616c 697a 6174 696f 6e3c 2f73 7061 6e3e alization \n-00032440: 3c73 7061 6e20 636c 6173 733d 226f 223e \n-00032450: 2e3c 2f73 7061 6e3e 3c73 7061 6e20 636c .draw\n-000324a0: 3339 3b6e 616d 6526 2333 393b 3c2f 7370 39;name' :\n-000324e0: 393b 7063 6426 2333 393b 3c2f 7370 616e 9;pcd' , '\n-00032520: 6765 6f6d 6574 7279 2623 3339 3b3c 2f73 geometry':pcd\n-00032560: 3c2f 7370 616e 3e3c 7370 616e 2063 6c61 },\n-00032580: 203c 7370 616e 2063 6c61 7373 3d22 7022 {'n\n-000325b0: 616d 6526 2333 393b 3c2f 7370 616e 3e3c ame'<\n-000325c0: 7370 616e 2063 6c61 7373 3d22 7022 3e3a span class=\"p\">:\n-000325d0: 3c2f 7370 616e 3e20 3c73 7061 6e20 636c 'pc\n-000325f0: 645f 646f 776e 2623 3339 3b3c 2f73 7061 d_down', '\n-00032630: 3b67 656f 6d65 7472 7926 2333 393b 3c2f ;geometry'\n-00032640: 7370 616e 3e3c 7370 616e 2063 6c61 7373 span>:pc\n-00032670: 645f 646f 776e 3c2f 7370 616e 3e3c 7370 d_down}])\n-00032690: 3c2f 7370 616e 3e0a 3c2f 7072 653e 3c2f .
voxel_size\n-00032750: 3c2f 7374 726f 6e67 3e20 283c 656d 3e66 (f\n-00032760: 6c6f 6174 3c2f 656d 3e29 20e2 8093 2056 loat) ... V\n-00032770: 6f78 656c 2073 697a 652e 2041 2070 6f73 oxel size. A pos\n-00032780: 6974 6976 6520 6e75 6d62 6572 2e3c 2f70 itive number.
reduction<\n-000327b0: 2f73 7472 6f6e 673e 2028 3c65 6d3e 7374 /strong> (st\n-000327c0: 723c 2f65 6d3e 3c65 6d3e 2c20 3c2f 656d r, optional, default='mean'<\n-00032800: 2f65 6d3e 2920 e280 9320 3c2f 703e 3c2f /em>) ...
open3d\n-00032880: 2e74 2e67 656f 6d65 7472 792e 506f 696e .t.geometry.Poin\n-00032890: 7443 6c6f 7564 3c2f 703e 0a3c 2f64 643e tCloud
.Returns tru\n-00032bd0: 6520 6966 2074 6865 2067 656f 6d65 7472 e if the geometr\n-00032be0: 7920 6973 206f 6e20 4350 552e 3c2f 703e y is on CPU.
\n-00032bf0: 0a3c 2f64 643e 3c2f 646c 3e0a 0a3c 646c .R\n-00032d70: 6574 7572 6e73 2074 7275 6520 6966 2074 eturns true if t\n-00032d80: 6865 2067 656f 6d65 7472 7920 6973 206f he geometry is o\n-00032d90: 6e20 4355 4441 2e3c 2f70 3e0a 3c2f 6464 n CUDA.
.Point\n-00033130: e280 9973 2061 7474 7269 6275 7465 733c ...s attributes<\n-00033140: 2f70 3e0a 3c2f 6464 3e0a 3c2f 646c 3e0a /p>.
PointClou\n-00033980: 643c 2f73 7061 6e3e 3c2f 636f 6465 3e3c d
<\n-00033990: 2f61 3e3c 756c 3e0a 3c6c 693e 3c61 2063 /a>PointCloud.\n-00033a30: 5f5f 696e 6974 5f5f 2829 3c2f 7370 616e __init__()
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\n-00033b00: 613e 3c2f 6c69 3e0a 3c6c 693e 3c61 2063 a>\n-00033b80: 3c73 7061 6e20 636c 6173 733d 2270 7265 PointCloud.cle\n-00033ba0: 6172 2829 3c2f 7370 616e 3e3c 2f63 6f64 ar()
PointCloud\n-00033c50: 2e63 6c6f 6e65 2829 3c2f 7370 616e 3e3c .clone()<\n-00033c60: 2f63 6f64 653e 3c2f 613e 3c2f 6c69 3e0a /code>
PointCloud.cl\n-00033d10: 7573 7465 725f 6462 7363 616e 2829 3c2f uster_dbscan()\n-00033d20: 7370 616e 3e3c 2f63 6f64 653e 3c2f 613e span>
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PointCloud\n-00033f70: 2e63 7075 2829 3c2f 7370 616e 3e3c 2f63 .cpu()
<\n-000340f0: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n-00034100: 3e50 6f69 6e74 436c 6f75 642e 6372 6561 >PointCloud.crea\n-00034110: 7465 5f66 726f 6d5f 7267 6264 5f69 6d61 te_from_rgbd_ima\n-00034120: 6765 2829 3c2f 7370 616e 3e3c 2f63 6f64 ge()
PointCloud.\n-000341d0: 6372 6f70 2829 3c2f 7370 616e 3e3c 2f63 crop()
PointClou\n-00034280: 642e 6375 6461 2829 3c2f 7370 616e 3e3c d.cuda()<\n-00034290: 2f63 6f64 653e 3c2f 613e 3c2f 6c69 3e0a /code>
.\n-000342a0: 3c6c 693e 3c61 2063 6c61 7373 3d22 7265 Poi\n-00034340: 6e74 436c 6f75 642e 6573 7469 6d61 7465 ntCloud.estimate\n-00034350: 5f63 6f6c 6f72 5f67 7261 6469 656e 7473 _color_gradients\n-00034360: 2829 3c2f 7370 616e 3e3c 2f63 6f64 653e ()
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\n-00034850: 3c2f 6c69 3e0a 3c6c 693e 3c61 2063 6c61 PointCloud.\n-000348f0: 6765 745f 6365 6e74 6572 2829 3c2f 7370 get_center()
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<\n-00035030: 7370 616e 2063 6c61 7373 3d22 7072 6522 span class=\"pre\"\n-00035040: 3e50 6f69 6e74 436c 6f75 642e 6f72 6965 >PointCloud.orie\n-00035050: 6e74 5f6e 6f72 6d61 6c73 5f74 6f5f 616c nt_normals_to_al\n-00035060: 6967 6e5f 7769 7468 5f64 6972 6563 7469 ign_with_directi\n-00035070: 6f6e 2829 3c2f 7370 616e 3e3c 2f63 6f64 on()
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PointCloud.p\n-000352f0: 6361 5f70 6172 7469 7469 6f6e 2829 3c2f ca_partition()\n-00035300: 7370 616e 3e3c 2f63 6f64 653e 3c2f 613e span>
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PointCloud.\n-00035710: 7265 6d6f 7665 5f6e 6f6e 5f66 696e 6974 remove_non_finit\n-00035720: 655f 706f 696e 7473 2829 3c2f 7370 616e e_points()
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\n-00035cb0: 6c69 3e0a 3c6c 693e 3c61 2063 6c61 7373 li>.\n-00035df0: 506f 696e 7443 6c6f 7564 2e74 6f5f 6c65 PointCloud.to_le\n-00035e00: 6761 6379 2829 3c2f 7370 616e 3e3c 2f63 gacy()
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