pyntcloud 0.1.0

Python library for working with 3D point clouds.

pyntcloud is a Python 3 library for working with 3D point clouds leveraging the power of the Python scientific stack.

• Examples (We encourage you to try the examples without installation launching Binder.)

• Documentation

pip install pyntcloud

Quick Overview

You can access most of pyntcloud’s functionality from its core class: PyntCloud.

With PyntCloud you can perform complex 3D processing operations with minimum lines of code. For example you can:

• Load a PLY point cloud from disk.

• Add 3 new scalar fields by converting RGB to HSV.

• Build a grid of voxels from the point cloud.

• Build a new point cloud keeping only the nearest point to each occupied voxel center.

• Save the new point cloud in numpy’s NPZ format.

With the following concise code:

from pyntcloud import PyntCloud

cloud = PyntCloud.from_file("some_file.ply")

cloud.add_scalar_field("hsv")

voxelgrid_id = cloud.add_structure("voxelgrid", n_x=32, n_y=32, n_z=32)

new_cloud = cloud.get_sample("voxelgrid_nearest", voxelgrid_id=voxelgrid_id, as_PyntCloud=True)

new_cloud.to_file("out_file.npz")

Integration with other libraries

pyntcloud offers seamless integration with other 3D processing libraries.

You can create / convert PyntCloud instances from / to many 3D processing libraries using the from_instance / to_instance methods:

• Open3D

import open3d as o3d
from pyntcloud import PyntCloud

# FROM Open3D
original_triangle_mesh = o3d.io.read_triangle_mesh("diamond.ply")
cloud = PyntCloud.from_instance("open3d", original_triangle_mesh)
assert cloud.mesh is not None
assert np.allclose(cloud.mesh.values, original_triangle_mesh.triangles)
assert np.allclose(cloud.xyz, original_triangle_mesh.vertices)
assert {'red', 'green', 'blue'}.issubset(cloud.points.columns)
assert np.allclose(cloud.points[['red', 'green', 'blue']].values / 255., original_triangle_mesh.vertex_colors)
assert {'nx', 'ny', 'nz'}.issubset(cloud.points.columns)
assert np.allclose(cloud.points[['nx', 'ny', 'nz']].values,  original_triangle_mesh.vertex_normals)

# TO Open3D
cloud = PyntCloud.from_file("diamond.ply")
converted_triangle_mesh = cloud.to_instance("open3d", mesh=True)  # mesh=True by default
assert isinstance(converted_triangle_mesh, o3d.geometry.TriangleMesh)
assert np.allclose(cloud.xyz, converted_triangle_mesh.vertices)
assert np.allclose(cloud.mesh.values, converted_triangle_mesh.triangles)

• PyVista

import pyvista as pv
from pyntcloud import PyntCloud

# FROM PyVista
original_point_cloud = pv.read("diamond.ply")
cloud = PyntCloud.from_instance("pyvista", original_point_cloud)
assert np.allclose(cloud.xyz, original_point_cloud.points)
assert {'red', 'green', 'blue'}.issubset(cloud.points.columns)
assert np.allclose(cloud.points[['red', 'green', 'blue']].values, original_point_cloud.point_arrays["RGB"])
assert {'nx', 'ny', 'nz'}.issubset(cloud.points.columns)
assert np.allclose(cloud.points[['nx', 'ny', 'nz']].values,  original_point_cloud.point_arrays["Normals"])

# TO PyVista
cloud = PyntCloud.from_file("diamond.ply")
converted_triangle_mesh = cloud.to_instance("open3d", mesh=True)
assert isinstance(converted_triangle_mesh, pv.PolyData)
assert np.allclose(cloud.xyz, converted_triangle_mesh.points)
assert np.allclose(cloud.mesh.values, converted_triangle_mesh.faces[:, 1:])