pointtorch.core

Core data structures for point cloud processing.

class pointtorch.core.BoundingBox(min_coord: ndarray, max_coord: ndarray)[source]

Bases: object

Axis-aligned bounding box.

Parameters:

  • min_coord – Minimum coordinates of the bounding box.

  • max_coord – Maximum coordinates of the bounding box.

Raises:

ValueError – If min_coord and max_coord have different shapes or if an entry of min_coord is larger then the corresponding entry in max_coord.

center() → ndarray[source]

Returns: Coordinates of the bounding box center.

extent() → ndarray[source]

Returns: Extent of the bounding box along each axis.

property max: ndarray

Maximum coordinates of the bounding box.

Type:

Returns

property min: ndarray

Minimum coordinates of the bounding box.

Type:

Returns

class pointtorch.core.PointCloud(
data: _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | Iterable | Dict | DataFrame,
index: Index | ndarray[Any, dtype[int64]] | None = None,
columns: Index | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | List[str] | None = None,
dtype: dtype | None = None,
copy: bool | None = True,
crs: str | None = None,
identifier: str | None = None,
x_max_resolution: float | None = None,
y_max_resolution: float | None = None,
z_max_resolution: float | None = None,
)[source]

Bases: DataFrame

Point cloud object. Subclass of pd.DataFrame

Parameters:

  • identifier – Point cloud identifier. Defaults to None.

  • crs – ESPG code of the point cloud’s coordinate reference system. Defaults to None

  • x_max_resolution – Maximum resolution of the point cloud’s x-coordinates in meter. Defaults to None.

  • y_max_resolution – Maximum resolution of the point cloud’s y-coordinates in meter. Defaults to None.

  • z_max_resolution – Maximum resolution of the point cloud’s z-coordinates in meter. Defaults to None.

For a documentation of other parameters, see the documentation of pd.DataFrame.

Variables:

  • crs – ESPG code of the point cloud’s coordinate reference system.

  • identifier – Point cloud identifier.

  • x_max_resolution – Maximum resolution of the point cloud’s x-coordinates in meter.

  • y_max_resolution – Maximum resolution of the point cloud’s y-coordinates in meter.

  • z_max_resolution – Maximum resolution of the point cloud’s z-coordinates in meter.

to(
file_path: str | Path,
columns: List[str] | None = None,
) → None[source]

Writes the point cloud to a file.

Parameters:

  • file_path – Path of the output file.

  • columns – Point cloud columns to be written. The x, y, and z columns are always written.

Raises:

ValueError – If the point cloud format is not supported by the writer or if columns contains a column name that is not existing in the point cloud.

xyz() → ndarray[Any, dtype[float64]][source]
Returns:

x, y, and z coordinates of the points in the point cloud.

Raises:

RuntimeError – if “x”, “y”, or “z” are not in self.columns.

class pointtorch.core.PointCloudSeries(
data: _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | Iterable | Dict | None = None,
index: Index | ndarray[Any, dtype[int64]] | None = None,
dtype: str | dtype | ExtensionDtype | None = None,
name: Hashable | None = None,
copy: bool | None = True,
identifier: str | None = None,
x_max_resolution: float | None = None,
y_max_resolution: float | None = None,
z_max_resolution: float | None = None,
)[source]

Bases: Series

A data series that represents a point cloud column. Subclass of pd.Series.

Parameters:

  • identifier – Point cloud identifier. Defaults to None.

  • x_max_resolution – Maximum resolution of the point cloud’s x-coordinates in meter. Defaults to None.

  • y_max_resolution – Maximum resolution of the point cloud’s y-coordinates in meter. Defaults to None.

  • z_max_resolution – Maximum resolution of the point cloud’s z-coordinates in meter. Defaults to None.

For a documentation of other parameters, see the documentation of pd.Series.

Variables:

  • identifier – Point cloud identifier.

  • x_max_resolution – Maximum resolution of the point cloud’s x-coordinates in meter.

  • y_max_resolution – Maximum resolution of the point cloud’s y-coordinates in meter.

  • z_max_resolution – Maximum resolution of the point cloud’s z-coordinates in meter.

pointtorch.core.read(
file_path: str | Path,
columns: List[str] | None = None,
num_rows: int | None = None,
) → PointCloud[source]

Method for reading point cloud files.

Parameters:

  • file_path – Path of the point cloud file to be read.

  • columns – Name of the point cloud columns to be read. The x, y, and z columns are always read.

  • num_rows – Number of rows to read. If set to None, all rows are read. Defaults to None.

Returns:

Point cloud object.

Raises:

ValueError – If the point cloud format is not supported by the reader.