geo3d.geometry.point_cloud
==========================

.. py:module:: geo3d.geometry.point_cloud


Classes
-------

.. autoapisummary::

   geo3d.geometry.point_cloud.PointCloud


Module Contents
---------------

.. py:class:: PointCloud(data: numpy.typing.NDArray[numpy.floating])

   Class for handling point cloud objects.


   .. py:attribute:: agg_funcs


   .. py:attribute:: required_fields
      :value: ('X', 'Y', 'Z', 'Classification')



   .. py:attribute:: data


   .. py:property:: xyz
      :type: numpy.typing.NDArray[numpy.floating]


      Return the xyz array.

      :returns: An array of shape (n, 3)
      :rtype: np.ndarray


   .. py:property:: labels
      :type: numpy.typing.NDArray[numpy.integer]


      Return the Classification array.

      :returns: An array of shape (n, )
      :rtype: np.ndarray


   .. py:property:: size
      :type: int


      Return the size of the array.


   .. py:method:: read(filename: str) -> PointCloud
      :classmethod:


      Read a point cloud from a file.

      :param filename: The point cloud file.
      :type filename: str

      :returns: A PointCloud Instance.



   .. py:method:: write(filename: str) -> None

      Write a point cloud to a file.

      :param filename: The point cloud file.
      :type filename: str



   .. py:method:: apply(transforms: list, inplace: bool = False) -> Optional[PointCloud]

      Apply geometric transformations on the point cloud.

      :param transforms: A list of transformations.
      :type transforms: list
      :param inplace: Make changes on the current instance. Defaults to False.
      :type inplace: bool, optional

      :returns: A new PointCloud object or None.



   .. py:method:: merge(other: PointCloud, inplace: bool = False, max_size: int = PDAL_MAX_POINTS) -> Optional[PointCloud]

      Merge point clouds.

      :param other: A PointCloud object.
      :type other: PointCloud
      :param inplace: Make changes on the current instance or create a new one. Defaults to False.
      :type inplace: bool
      :param max_size: A maximum point size to handle in memomry.
      :type max_size: int

      :returns: A new PointCloud object or None.



   .. py:method:: copy() -> PointCloud

      Make a copy of the PointCloud object.

      :returns: A new PointCloud instance with copied data.
      :rtype: PointCloud



   .. py:method:: voxelize(size: int, channels: List[Dict]) -> altametris.geo3d.geometry.voxel.VoxelGrid2D

      Create a 2D voxels grid from the raw point cloud by merging all the points.

      :param size: The size of the voxel.
      :type size: int
      :param channels: The list of channels to compute. list the keys.
      :type channels: List[Dict]

      :returns: The grid object.
      :rtype: VoxelGrid2D