geo3d.geometry.point_cloud

Classes

PointCloud

Class for handling point cloud objects.

Module Contents

class geo3d.geometry.point_cloud.PointCloud(data: numpy.typing.NDArray[numpy.floating])

Class for handling point cloud objects.

agg_funcs
required_fields = ('X', 'Y', 'Z', 'Classification')
data
property xyz: numpy.typing.NDArray[numpy.floating]

Return the xyz array.

Returns:

An array of shape (n, 3)

Return type:

np.ndarray

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

Return the Classification array.

Returns:

An array of shape (n, )

Return type:

np.ndarray

property size: int

Return the size of the array.

classmethod read(filename: str) → PointCloud

Read a point cloud from a file.

Parameters:

filename (str) – The point cloud file.

Returns:

A PointCloud Instance.

write(filename: str) → None

Write a point cloud to a file.

Parameters:

filename (str) – The point cloud file.

apply(transforms: list, inplace: bool = False) → PointCloud | None

Apply geometric transformations on the point cloud.

Parameters:

  • transforms (list) – A list of transformations.

  • inplace (bool, optional) – Make changes on the current instance. Defaults to False.

Returns:

A new PointCloud object or None.

merge(other: PointCloud, inplace: bool = False, max_size: int = PDAL_MAX_POINTS) → PointCloud | None

Merge point clouds.

Parameters:

  • other (PointCloud) – A PointCloud object.

  • inplace (bool) – Make changes on the current instance or create a new one. Defaults to False.

  • max_size (int) – A maximum point size to handle in memomry.

Returns:

A new PointCloud object or None.

copy() → PointCloud

Make a copy of the PointCloud object.

Returns:

A new PointCloud instance with copied data.

Return type:

PointCloud

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.

Parameters:

  • size (int) – The size of the voxel.

  • channels (List[Dict]) – The list of channels to compute. list the keys.

Returns:

The grid object.

Return type:

VoxelGrid2D