2. Points Clouds

2.1. ccPointCloud

All the inherited members are given here for convenience. Most of the time, this class is used rather than the bases classes.

class cloudComPy.ccPointCloud

Bases: PointCloudTpl_ccGenericPointCloud_QString

A 3D cloud and its associated features ( normals, scalar fields, etc.)

A point cloud can have multiple features:

normals (compressed) (TODO)
scalar fields
an octree structure
other children objects (meshes, calibrated pictures, etc.) (TODO)

addChild(self: _cloudComPy.ccHObject, child: _cloudComPy.ccHObject, dependencyFlags: int = <DEPENDENCY_FLAGS.DP_NONE: 0>, insertIndex: int = -1) → bool

Adds a child.

warning the C++ default for DEPENDENCY_FLAGS (DP_PARENT_OF_OTHER) is replaced by DP_NONE in Python: The other values may induce a delete of the original child object in C++, not handled correctly on the Python side.

Parameters

child (ccHObject) – child instance to append to the child list
dependencyFlags (DEPENDENCY_FLAGS,optional) – dependency flags, default DP_NONE
insertIndex (int,optional) – insertion index, default -1: if <0, child is simply appended to the children list.

Returns

success

Return type

bool

addPoint(self: _cloudComPy.PointCloudTpl_ccGenericPointCloud_QString, arg0: Vector3Tpl<T>) → None

Adds a 3D point to the database

To ensure the best efficiency, the database memory must have already been reserved (with PointCloud::reserve). Otherwise nothing happens.

Parameters: P (tuple) – a 3D point

addScalarField(self: _cloudComPy.ccPointCloud, arg0: str) → int

Creates a new scalar field and registers it.

Warnings:

the name must be unique (the method will fail if a SF with the same name already exists)
this method DOES resize the scalar field to match the current cloud size

Parameters: uniqueName (str) – scalar field name (must be unique)
Returns: index of this new scalar field (or -1 if an error occurred)
Return type: int

applyRigidTransformation(*args, **kwargs)

Overloaded function.

applyRigidTransformation(self: _cloudComPy.ccPointCloud, arg0: ccGLMatrix) -> None

Applies a GL transformation to the entity:

this = rotMat*(this-rotCenter)+(rotCenter+trans)

Parameters: trans (ccGLMatrix) – a ccGLMatrix structure

applyRigidTransformation(self: _cloudComPy.ccPointCloud, arg0: ccGLMatrixTpl<float>) -> None

Applies a GL transformation to the entity:

this = rotMat*(this-rotCenter)+(rotCenter+trans)

Parameters: trans (ccGLMatrix) – a ccGLMatrix structure

changeColorLevels(self: _cloudComPy.ccPointCloud, arg0: int, arg1: int, arg2: int, arg3: int, arg4: bool, arg5: bool, arg6: bool) → bool

Linear transformation of color components levels between boundaries: the input levels are defined by a lower and an upper bound, and similarly at the output. The transformation can be applied on one or more color component (red, green, blue)

Parameters

in0 (int) – input lower bound in range [0..255]
in1 (int) – input upper bound in range [0..255]
out0 (int) – output lower bound in range [0..255]
out1 (int) – output upper bound in range [0..255]
onRed (bool) – whether to apply the transformation on the red component
onGreen (bool) – whether to apply the transformation on the green component
onBlue (bool) – whether to apply the transformation on the blue component

Returns

success

Return type

bool

cloneThis(self: _cloudComPy.ccPointCloud, destCloud: _cloudComPy.ccPointCloud = None, ignoreChildren: bool = False) → _cloudComPy.ccPointCloud

Clones this entity.

All the main features of the entity are cloned, except from the octree and the points visibility information.

Parameters

destCloud (ccPointCloud,optional) – the destination cloud can be provided here
ignoreChildren (bool,optional) – whether to ignore the cloud’s children or not (in which case they will be cloned as well)

Returns

a copy of this entity

Return type

ccPointCloud

colorize(self: _cloudComPy.ccPointCloud, r: float, g: float, b: float, a: float = 1.0) → bool

Multiplies all color components of all points by coefficients.

If the cloud has no color, all points are considered white and the color array is automatically allocated.

Parameters

r (float) – red component (normalized value in [0., 1.])
g (float) – green component (normalized value in [0., 1.])
b (float) – blue component (normalized value in [0., 1.])
a (float,optional) – alpha component default 1.0, (normalized value in [0., 1.])

Returns

success

Return type

bool

colorsFromNPArray_copy(self: _cloudComPy.ccPointCloud, arg0: numpy.ndarray[numpy.uint8]) → None

Set cloud color from a Numpy array (nbPoints,4).

Each row is (r,g,b,alpha) of type uint8 (unsigned char). Color memory is reserved automatically in the cloud.

Parameters: array (ndarray) – a Numpy array (nbPoints,4).

colorsShown(self: _cloudComPy.ccHObject) → bool

Returns True if the colors are shown, False otherwise. It is used to prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Returns: whether the colors are shown.
Return type: bool

colorsToNpArray(self: _cloudComPy.ccPointCloud) → numpy.ndarray

Wrap the PointCloud colors into a numpy Array, without copy.

Returns a numpy Array of shape (number of Points, 4) (r, g ,b, a). Data type np.uint8. Data is not copied, the numpy Array object does not own the data.

WARNING No automatic action on the Python side on the variables referencing the C++ object in case of destruction!

Returns: numpy Array of shape (number of Points, 4) dtype uint8
Return type: ndarray

colorsToNpArrayCopy(self: _cloudComPy.ccPointCloud) → numpy.ndarray

Wrap the PointCloud colors into a numpy Array, with copy.

Returns a numpy Array of shape (number of Points, 4) (r, g ,b, a). Data type np.uint8. Data is copied, the numpy Array object owns its data. Ownership is transfered to Python: the numpy Array object and its data will be handled by the Python Garbage Collector

Returns: numpy Array of shape (number of Points, 4) dtype uint8
Return type: ndarray

computeGravityCenter(self: _cloudComPy.ccPointCloud) → Vector3Tpl<T>

Return a tuple of the 3 coordinates of the gravity center of the cloud.

Returns: gravity center coordinates
Return type: tuple of float

computeOctree(self: _cloudComPy.ccGenericPointCloud, progressCb: CCCoreLib::GenericProgressCallback = None, autoAddChild: bool = True) → CCCoreLib::DgmOctree

Computes the cloud octree.

The octree bounding-box is automatically defined as the smallest 3D cube that totally encloses the cloud.

WARNING: any previously attached octree will be deleted, even if the new octree computation failed.

Parameters

progressCb,optional – (default None), use None
autoAddChild (bool,optional) – (default True) whether to automatically add the computed octree as child of this cloud or not

Returns

the computed octree

Return type

ccOctree

computeScalarFieldGradient(self: _cloudComPy.ccPointCloud, SFindex: int, radius: float, euclideanDistances: bool, theOctree: _cloudComPy.DgmOctree = None) → bool

Computes the geometrical gradient of a scalar field associated to a point cloud.

The gradient is a new scalar field. See Daniel Girardeau-Montaut’s PhD manuscript (Chapter 3, section 3.3.2) for more information. As explained in this section, if the scalar field corresponds to (euclidean) distances between the points and another entity, then it is possible to filter out aberrant values.

Parameters

SFindex (int) – The scalar Field index in the Point Cloud.
radius (double) – spherical neighborhood size (or 0 for automatic size)
euclideanDistances (bool) – indicates if the scalar values are euclidean distances
theOctree (DgmOctree,optional) – the octree, if it has already been computed

Returns

success

Return type

bool

convertCurrentScalarFieldToColors(self: _cloudComPy.ccPointCloud, mixWithExistingColor: bool = False) → bool

Converts current scalar field to RGB colors.

Requires a current “displayed” scalar field: see setCurrentDisplayedScalarField().

Parameters: mixWithExistingColor (bool,optional) – whether to mix with an existing color, default False
Returns: success
Return type: bool

convertNormalToDipDirSFs(self: _cloudComPy.ccPointCloud) → bool

Converts normals to two scalar fields: ‘dip’ and ‘dip direction’.

See Strike and dip. Angles are in degrees.

Returns: success
Return type: bool

convertNormalToRGB(self: _cloudComPy.ccPointCloud) → bool

Converts normals to color.

Returns: success
Return type: bool

convertRGBToGreyScale(self: _cloudComPy.ccPointCloud) → bool

Converts RGB to grey scale colors.

Returns: success
Return type: bool

coordsFromNPArray_copy(self: _cloudComPy.ccPointCloud, arg0: numpy.ndarray[numpy.float32]) → None

Set cloud coordinates from a Numpy array (nbPoints,3).

WARNING Be sure to have an array data in C-style contiguous order, for instance, a transpose operation do not reorder the data in memory. Check the boolean array.flags['C_CONTIGUOUS'] and, if False, reorder with array.copy(order='C').

Cloud memory is reserved /resized automatically

Parameters: array (ndarray) – a Numpy array (nbPoints,3).

countRef(self: object) → int: Get the value of the Python reference counter. Do not use, for debug and tests only.

crop2D(self: _cloudComPy.ccPointCloud, arg0: _cloudComPy.ccPolyline, arg1: int, arg2: bool) → _cloudComPy.ccPointCloud

Crop the point cloud using a 2D polyline.

Parameters

poly (ccPolyline) – polyline object
orthoDim (int) – normal plane, value in (0, 1, 2) 0 = oY, 1 = oX, 2 = oZ
inside (bool) – boolean

Returns

the cropped cloud. Points are copied, the original cloud is not modified.

Return type

ccPointCloud

decRef(self: handle) → None: Decrement the Python reference counter. Do not use, for debug and tests only.

deleteAllScalarFields(self: _cloudComPy.ccPointCloud) → None: Deletes all scalar fields associated to this cloud

deleteOctree(self: _cloudComPy.ccGenericPointCloud) → None: Erases the octree

deleteScalarField(self: _cloudComPy.ccPointCloud, arg0: int) → None

Deletes a specific scalar field.

WARNING: this operation may modify the scalar fields order (especially if the deleted SF is not the last one). However current IN & OUT scalar fields will stay up-to-date (while their index may change).

Parameters: index (int) – index of scalar field to be deleted

enhanceRGBWithIntensitySF(self: _cloudComPy.ccPointCloud, sfIdx: int, useCustomIntensityRange: bool = False, minI: float = 0.0, maxI: float = 1.0) → bool

Enhances the RGB colors with a scalar field (assuming it’s intensities)

Parameters

sfIdx (int) – scalarField index
useCustomIntensityRange (bool,optional) – whether to set a custom range for intensity, default False
minI (float,optional) – min value for the custom range, default 0.
maxI (float,optional) – max value for the custom range, default 1.

Returns

status

Return type

bool

exportCoordToSF(self: _cloudComPy.ccPointCloud, arg0: bool, arg1: bool, arg2: bool) → bool

Export coordinates to ScalarFields.

Parameters

isXexported (bool) – export X coordinates
isYexported (bool) – export Y coordinates
isZexported (bool) – export Z coordinates

Returns

status

Return type

bool

exportNormalToSF(self: _cloudComPy.ccPointCloud, arg0: bool, arg1: bool, arg2: bool) → bool

Export normals to ScalarFields.

Parameters

isXexported (bool) – export X normals coordinate
isYexported (bool) – export Y normals coordinate
isZexported (bool) – export Z normals coordinate

Returns

status

Return type

bool

filterPointsByScalarValue(self: _cloudComPy.ccPointCloud, minVal: float, maxVal: float, outside: bool = False) → _cloudComPy.ccPointCloud

Filters out points whose scalar values falls into an interval.

Threshold values should be expressed relatively to the current displayed scalar field. See setCurrentDisplayedScalarField() method.

Parameters

minVal (float) – minimum value
maxVal (float) – maximum value
outside (bool,optional) – default False, whether to select the points inside or outside of the specified interval

Returns

resulting cloud (remaining points)

Return type

ccPointCloud

fuse(self: _cloudComPy.ccPointCloud, arg0: _cloudComPy.ccPointCloud) → None

Append in place another cloud.

No return.

Parameters: other (ccPointCloud) – cloud to fuse with this one, modification in place.

getChild(self: _cloudComPy.ccHObject, arg0: int) → _cloudComPy.ccHObject

Get child by index.

Parameters: index (int) – index of child, see getChildrenNumber().
Returns: child object
Return type: ccHObject

getChildCountRecursive(self: _cloudComPy.ccHObject) → int

Get the number of children of this object, recursively.

Returns: number of children, recursively
Return type: int

getChildrenNumber(self: _cloudComPy.ccHObject) → int

Get the number of direct children of this object.

Returns: number of direct children
Return type: int

getClassID(self: _cloudComPy.ccHObject) → int

Get the type of this object.

Returns: type
Return type: CC_TYPE

getCurrentDisplayedScalarField(self: _cloudComPy.ccPointCloud) → _cloudComPy.ccScalarField

Returns the currently displayed scalar (or None if none)

Current displayed scalar field is used in some methods such as filterPointsByScalarValue()

Returns: currently displayed scalar field
Return type: ScalarField or None

getCurrentDisplayedScalarFieldIndex(self: _cloudComPy.ccPointCloud) → int

Returns the currently displayed scalar field index (or -1 if none)

Current displayed scalar field is used in some methods such as filterPointsByScalarValue()

Returns: currently displayed scalar field index
Return type: int

getCurrentInScalarField(self: _cloudComPy.ccPointCloud) → _cloudComPy.ScalarField

Return the current ‘in’ ScalarField if there is one, otherwise None.

Returns: current ‘in’ ScalarField
Return type: ScalarField or None

getCurrentOutScalarField(self: _cloudComPy.ccPointCloud) → _cloudComPy.ScalarField

Return the current ‘out’ ScalarField if there is one, otherwise None.

Returns: current ‘out’ ScalarField
Return type: ScalarField or None

getGlobalScale(self: _cloudComPy.ccShiftedObject) → float

Returns the scale applied to original coordinates.

Returns: the scale applied to original coordinates.
Return type: double

getGlobalShift(self: _cloudComPy.ccShiftedObject) → Vector3Tpl<T>

Returns the shift applied to original coordinates.

Original coordinates are equal to ‘(P/scale - shift)’ The shift is typically used when saving to a file.

Returns: applied shift (x, y, z)
Return type: tuple

getName(self: _cloudComPy.ccHObject) → QString

Get the name of the entity

Returns: entity name
Return type: str

getNumberOfScalarFields(self: _cloudComPy.ccPointCloud) → int

Return the number of scalar fields associated to the cloud.

Returns: number of scalar fields
Return type: int

getOctree(self: _cloudComPy.ccGenericPointCloud) → CCCoreLib::DgmOctree

Returns the associated octree (if any).

Returns: octree
Return type: ccOctree or None

getOwnBB(self: _cloudComPy.ccGenericPointCloud) → _cloudComPy.ccBBox

Returns the bounding box object.

Returns: bounding box
Return type: ccBBox

getParent(self: _cloudComPy.ccHObject) → _cloudComPy.ccHObject

Get the parent of this object.

Returns: parent object
Return type: ccHObject

getPoint(self: _cloudComPy.PointCloudTpl_ccGenericPointCloud_QString, arg0: int) → Vector3Tpl<T>

get the ith point in the cloud array.

Returns: point coordinates
Return type: tuple

getScalarField(*args, **kwargs)

Overloaded function.

getScalarField(self: _cloudComPy.ccPointCloud, arg0: int) -> _cloudComPy.ScalarField

Find by index: return a ScalarField if index is valid, otherwise None.

Parameters: index (int) – index of the ScalarField
Returns: the ScalarField at index
Return type: ScalarField or None

getScalarField(self: _cloudComPy.ccPointCloud, arg0: QString) -> _cloudComPy.ScalarField

Find by name: return a ScalarField if there is one with this name, otherwise None.

Parameters: name (str) – name of the ScalarField
Returns: ScalarField
Return type: ScalarField or None

getScalarFieldDic(self: _cloudComPy.ccPointCloud) → Dict[QString, int]

Return a dictionary [ScalarField name] –> ScalarField index.

Returns: a dictionary [name]->index
Return type: dic

getScalarFieldName(self: _cloudComPy.ccPointCloud, arg0: int) → str

Return the ScalarField name if index is valid, otherwise None.

Parameters: index (int) – index of the ScalarField
Returns: ScalarField name at index
Return type: str or None

getSensors(self: _cloudComPy.ccPointCloud) → List[ccSensor]

Returns a list of sensors if any, otherwise empty list.

Returns: list of ccSensor
Return type: list

hasColors(self: _cloudComPy.ccPointCloud) → bool

Return whether the cloud has Colors.

Returns: True or False
Return type: bool

hasNormals(self: _cloudComPy.ccPointCloud) → bool

Return whether the cloud has Normals.

Returns: True or False
Return type: bool

hasScalarFields(self: _cloudComPy.ccPointCloud) → bool

Return whether the cloud has ScalarFields.

Returns: True or False
Return type: bool

incRef(self: handle) → None: Increment the Python reference counter. Do not use, for debug and tests only.

interpolateColorsFrom(self: _cloudComPy.ccPointCloud, otherCloud: _cloudComPy.ccGenericPointCloud, octreeLevel: int = 0) → bool

Interpolate colors from another cloud (nearest neighbor only).

Parameters

other (ccGenericPointCloud) – source cloud with color
octreeLevel (int,optional) – octreeLevel, default 0

Returns

success

Return type

bool

isA(self: _cloudComPy.ccHObject, arg0: int) → bool

Check the type of object.

Parameters: type (CC_TYPES) – type to check
Returns: OK if object is of this type
Return type: bool

isKindOf(self: _cloudComPy.ccHObject, arg0: int) → bool

Check the type of object.

Parameters: type (CC_TYPES) – type to check
Returns: OK if object is a kind of this type
Return type: bool

isShifted(self: _cloudComPy.ccShiftedObject) → bool

Returns whether the cloud is shifted or not

Returns: whether the cloud is shifted or not
Return type: bool

normalsShown(self: _cloudComPy.ccHObject) → bool

Returns True if the normals are shown, False otherwise. It is used to prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Returns: whether the normals are shown
Return type: bool

orientNormalsWithFM(self: _cloudComPy.ccPointCloud, octreeLevel: int = 6) → bool

Orient normals with Fast Marching method.

See Fast marching method.

Parameters: octreeLevel (int,optional) – octree level, default 6
Returns: success
Return type: bool

orientNormalsWithMST(self: _cloudComPy.ccPointCloud, octreeLevel: int = 6) → bool

Orient normals with Minimum Spanning Tree method.

See Minimum spanning tree.

Parameters: octreeLevel (int,optional) – octree level, default 6
Returns: success
Return type: bool

partialClone(self: _cloudComPy.ccPointCloud, arg0: _cloudComPy.ReferenceCloud) → tuple

Creates a new point cloud object from a ReferenceCloud (selection)

‘Reference clouds’ are a set of indexes referring to a real point cloud. See CClib documentation for more information about ReferenceClouds.

Warning: the ReferenceCloud structure must refer to this cloud.

Parameters: selection (ReferenceCloud) – a ReferenceCloud structure (pointing to source)
Returns: a tuple(ccPointCloud, CLONE_WARNINGS) warning status, if not 0, indicate out of memory errors (see CLONE_WARNINGS)
Return type: tuple

renameScalarField(self: _cloudComPy.ccPointCloud, arg0: int, arg1: str) → bool

Rename the ScalarField if index is valid.

Warning: the name should not be already used by other ScalarFields of the cloud! TODO: check the names in use.

Parameters

index (int) – index of the ScalarField
name (str) – new name

Returns

True in case of success

Return type

bool

reserve(self: _cloudComPy.ccPointCloud, arg0: int) → bool

Reserves memory for all the active features.

This method is meant to be called before increasing the cloud population. Only the already allocated features will be re-reserved.

Parameters: nbPts (int) – number of points
Returns: True if ok, False if there’s not enough memory
Return type: bool

resize(self: _cloudComPy.ccPointCloud, arg0: int) → bool

Resizes all the active features arrays.

This method is meant to be called after having increased the cloud population (if the final number of insterted point is lower than the reserved size). Otherwise, it fills all new elements with blank values.

Returns: True if ok, False if there’s not enough memory
Return type: bool

scale(self: _cloudComPy.ccPointCloud, fx: float, fy: float, fz: float, center: Vector3Tpl<T> = (0.0, 0.0, 0.0)) → None

Scale the cloud with separate factors along the 3 directions x,y,z and an optional center (default: (0,0,0)).

Parameters

fx (float) – scale x
fy (float) – scale y
fz (float) – scale z
center (tuple,optional) – (xc, yc, zc), default (0,0,0)

setColor(self: _cloudComPy.ccPointCloud, arg0: _cloudComPy.QColor) → bool

Set a unique color for the whole cloud (RGBA). Color array is automatically allocated if necessary.

Parameters: color (QColor) – a unique color, alpha is taken into account.
Returns: success
Return type: bool

setColorGradient(self: _cloudComPy.ccPointCloud, arg0: int, arg1: _cloudComPy.QColor, arg2: _cloudComPy.QColor) → bool

Assigns color to points proportionally to their ‘height’.

Height is defined with regard to to the specified dimension (heightDim). Color array is defined by a two colors (QColor).

Parameters

heightDim (int) – ramp dimension (0:X, 1:Y, 2:Z)
first (QColor) – first color of the array
second (QColor) – second color of the array

Returns

success

Return type

bool

setColorGradientBanded(self: _cloudComPy.ccPointCloud, arg0: int, arg1: float) → bool

Assigns color to points by ‘banding’. Banding is performed along the specified dimension. Color array is automatically defined.

Parameters

heightDim (int) – banding dimension (0:X, 1:Y, 2:Z)
freq (double) – banding frequency (size of the bands along the axis)

Returns

success

Return type

bool

setColorGradientDefault(self: _cloudComPy.ccPointCloud, arg0: int) → bool

Assigns color to points proportionally to their ‘height’.

Height is defined with regard to to the specified dimension (heightDim). Color array is defined by default.

Parameters: heightDim (int) – ramp dimension (0:X, 1:Y, 2:Z)
Returns: success
Return type: bool

setCurrentDisplayedScalarField(self: _cloudComPy.ccPointCloud, arg0: int) → None

Sets the currently displayed scalar field.

Current displayed scalar field is used in some methods such as filterPointsByScalarValue()

Warning: this scalar field will automatically be set as the OUTPUT one!

Parameters: index (int) – index of the displayed ScalarField

setCurrentInScalarField(self: _cloudComPy.ccPointCloud, arg0: int) → None

Set the current ‘in’ ScalarField index. No validity check. Use -1 to set None.

Parameters: index (int) – index of the ‘in’ ScalarField

setCurrentOutScalarField(self: _cloudComPy.ccPointCloud, arg0: int) → None

Set the current ‘out’ ScalarField index. No validity check. Use -1 to set None.

Parameters: index (int) – index of the ‘out’ ScalarField

setCurrentScalarField(self: _cloudComPy.ccPointCloud, arg0: int) → None

Set the current ‘in’ and ‘out ScalarField index. No validity check. Use -1 to set None.

Parameters: index (int) – index of the ‘in’ and ‘out’ ScalarField

setGlobalScale(self: _cloudComPy.ccShiftedObject, arg0: float) → None

Sets the scale applied to original coordinates (information storage only).

Parameters: scale (double) – scale applied

setGlobalShift(self: _cloudComPy.ccShiftedObject, arg0: float, arg1: float, arg2: float) → None

Sets shift applied to original coordinates (information storage only)

Such a shift can typically be applied at loading time. Original coordinates are equal to ‘(P/scale - shift)’

Parameters

x (double) – x shift
y (double) – y shift
z (double) – z shift

setName(self: _cloudComPy.ccHObject, arg0: QString) → None

Set the name of the entity

Parameters: name (str) – entity name

sfFromColor(self: _cloudComPy.ccPointCloud, arg0: bool, arg1: bool, arg2: bool, arg3: bool, arg4: bool) → bool

Creates ScalarFields from color components.

Parameters

exportR (bool) – whether to create a scalarField from red component
exportG (bool) – whether to create a scalarField from green component
exportB (bool) – whether to create a scalarField from blue component
exportAlpha (bool) – whether to create a scalarField from Alpha
exportComposite (bool) – whether to create a scalarField from (r+g+b)/3.

Returns

success

Return type

bool

sfShown(self: _cloudComPy.ccHObject) → bool

Returns True if the scalar fields are shown, False otherwise. It is used to prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Returns: whether the scalar fields are shown
Return type: bool

showColors(self: _cloudComPy.ccHObject, arg0: bool) → None

Prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Parameters: isShown (bool) – whether to show or not the colors.

showNormals(self: _cloudComPy.ccHObject, arg0: bool) → None

Prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Parameters: isShown (bool) – whether to show or not the normals.

showSF(self: _cloudComPy.ccHObject, arg0: bool) → None

Prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Parameters: isShown (bool) – whether to show or not the ScalarFields.

showSFColorsScale(self: _cloudComPy.ccPointCloud, arg0: bool) → None

Display or not the Color Scale ramp when render to a file.

Parameters: state (bool) – whether to display the Color Scale Ramp when render to a file

shrinkToFit(self: _cloudComPy.ccPointCloud) → None: Removes unused capacity

size(self: _cloudComPy.ccPointCloud) → int

Return the number of points in the cloud.

Returns: number of points in the cloud
Return type: int

toNpArray(self: _cloudComPy.ccPointCloud) → numpy.ndarray

Wrap the PointCloud coordinates into a numpy Array, without copy.

Returns a numpy Array of shape (number of Points, 3). Data is not copied, the numpy Array object does not own the data.

WARNING No automatic action on the Python side on the variables referencing the C++ object in case of destruction!

Returns: numpy Array of shape (number of Points, 3)
Return type: ndarray

toNpArrayCopy(self: _cloudComPy.ccPointCloud) → numpy.ndarray

Wrap the PointCloud coordinates into a numpy Array, with copy.

returns a numpy Array of shape (number of Points, 3) Data is copied, the numpy Array object owns its data. Ownership is transfered to Python: the numpy Array object and its data will be handled by the Python Garbage Collector

Returns: numpy Array of shape (number of Points, 3)
Return type: ndarray

translate(self: _cloudComPy.ccPointCloud, arg0: Vector3Tpl<T>) → None

translate the cloud of (x,y,z).

Parameters: translation (tuple) – tuple: (x,y,z)

unallocateColors(self: _cloudComPy.ccPointCloud) → None: Erases the cloud colors.

unallocateNorms(self: _cloudComPy.ccPointCloud) → None: Erases the cloud normals.

2.2. bases classes for Points Clouds

The generic class ccHObject is used when manipulating a list of points clouds and meshes, for instance to save the list of objects on a file.

class cloudComPy.PointCloudTpl_ccGenericPointCloud_QString

Bases: ccGenericPointCloud

addPoint(self: _cloudComPy.PointCloudTpl_ccGenericPointCloud_QString, arg0: Vector3Tpl<T>) → None

Adds a 3D point to the database

To ensure the best efficiency, the database memory must have already been reserved (with PointCloud::reserve). Otherwise nothing happens.

Parameters: P (tuple) – a 3D point

getPoint(self: _cloudComPy.PointCloudTpl_ccGenericPointCloud_QString, arg0: int) → Vector3Tpl<T>

get the ith point in the cloud array.

Returns: point coordinates
Return type: tuple

reserve(self: _cloudComPy.PointCloudTpl_ccGenericPointCloud_QString, arg0: int) → bool

Reserves memory for the point database.

This method tries to reserve some memory to store points that will be inserted later (with PointCloud::addPoint). If the new number of points is smaller than the actual one, nothing happens.

Parameters: newNumberOfPoints (int) – the new number of points
Returns: true if the method succeeds, false otherwise
Return type: bool

resize(self: _cloudComPy.PointCloudTpl_ccGenericPointCloud_QString, arg0: int) → bool

Resizes the point database.

The cloud database is resized with the specified size. If the new size is smaller, the overflooding points will be deleted. If its greater, the database is filled with blank points warning the PointCloud::addPoint method will insert points after those ones.

Parameters: newNumberOfPoints (int) – the new number of points
Returns: true if the method succeeds, false otherwise
Return type: bool

class cloudComPy.ccGenericPointCloud

Bases: GenericIndexedCloudPersist, ccShiftedObject

computeOctree(self: _cloudComPy.ccGenericPointCloud, progressCb: CCCoreLib::GenericProgressCallback = None, autoAddChild: bool = True) → CCCoreLib::DgmOctree

Computes the cloud octree.

The octree bounding-box is automatically defined as the smallest 3D cube that totally encloses the cloud.

WARNING: any previously attached octree will be deleted, even if the new octree computation failed.

Parameters

progressCb,optional – (default None), use None
autoAddChild (bool,optional) – (default True) whether to automatically add the computed octree as child of this cloud or not

Returns

the computed octree

Return type

ccOctree

deleteOctree(self: _cloudComPy.ccGenericPointCloud) → None: Erases the octree

getOctree(self: _cloudComPy.ccGenericPointCloud) → CCCoreLib::DgmOctree

Returns the associated octree (if any).

Returns: octree
Return type: ccOctree or None

getOwnBB(self: _cloudComPy.ccGenericPointCloud) → _cloudComPy.ccBBox

Returns the bounding box object.

Returns: bounding box
Return type: ccBBox

class cloudComPy.ReferenceCloud

Bases: GenericIndexedCloudPersist

A very simple point cloud (no point duplication).

Implements the GenericIndexedCloudPersist interface. A simple point cloud that stores references to Generic3dPoint instances in a vector. Partial thread safety for all methods that can change the size of the cloud or that change or rely on point ordering.

Several methods provide a ReferenceCloud as a result, which can be seen as a selection on an original ccPointCloud (the associatedCloud). The ReferenceCloud can be transformed in a ccPointCloud, using the partialClone method of the associated ccPointCloud.

addPointIndex(self: _cloudComPy.ReferenceCloud, arg0: int, arg1: int) → bool

Point global index insertion mechanism (range), thread safe.

Parameters

firstIndex (int) – first point global index of range
lastIndex (int) – last point global index of range (excluded)

Returns

false if not enough memory

Return type

bool

addPointIndexGlobal(self: _cloudComPy.ReferenceCloud, arg0: int) → bool

Point global index insertion mechanism, Thread safe.

Parameters: globalIndex (int) – a point global index
Returns: false if not enough memory
Return type: bool

enableScalarField(self: _cloudComPy.ReferenceCloud) → bool

Enables the scalar field associated to the cloud.

If the scalar field structure is not yet initialized/allocated, this method gives the signal for its creation. Otherwise, if possible the structure size should be pre-reserved with the same number of elements as the point cloud.

Warning If the cloud is empty, the scalar field will be empty as well. The scalar field will be reserved with the same capacity as the cloud.

Returns: success
Return type: bool

forwardIterator(self: _cloudComPy.ReferenceCloud) → None: Forwards the local element iterator.

getAssociatedCloud(self: _cloudComPy.ReferenceCloud) → _cloudComPy.GenericIndexedCloudPersist

Returns the associated (source) cloud.

Returns: the source cloud
Return type: GenericIndexedCloudPersist

getBoundingBox(self: _cloudComPy.ReferenceCloud) → List[Vector3Tpl<T>]

Returns the octree bounding box.

Method to request the octree bounding box limits.

Return limits: ((Xmin,Ymin,Zmin), (Xmax,Ymax,Zmax))
Return type: tuple

getCurrentPointCoordinates(self: _cloudComPy.ReferenceCloud) → Vector3Tpl<T>

Returns the coordinates of the point pointed by the current element.

Returns: coordinates
Return type: tuple

getCurrentPointGlobalIndex(self: _cloudComPy.ReferenceCloud) → int

Returns the global index of the point pointed by the current element.

Returns: global index in the cloud
Return type: int

getCurrentPointScalarValue(self: _cloudComPy.ReferenceCloud) → float

Returns the current point associated scalar value.

Returns: scalar value
Return type: float

getNextPoint(self: _cloudComPy.ReferenceCloud) → Vector3Tpl<T>

Returns the next point (relatively to the global iterator position).

Virtual method to handle the cloud global iterator. Global iterator position should be increased by one each time this method is called.

Warning:

the returned object may not be persistent!
THIS METHOD MAY NOT BE COMPATIBLE WITH PARALLEL STRATEGIES

(see the DgmOctree::executeFunctionForAllCellsAtLevel_MT and DgmOctree::executeFunctionForAllCellsAtStartingLevel_MT methods).

Returns: coordinates of next point (TODO: what if no more?)
Return type: tuple

getPoint(self: _cloudComPy.ReferenceCloud, arg0: int) → Vector3Tpl<T>

Returns the ith point.

Method to request a point with a specific index.

WARNINGS:

the returned object may not be persistent!
THIS METHOD MAY NOT BE COMPATIBLE WITH PARALLEL STRATEGIES

(see the DgmOctree::executeFunctionForAllCellsAtLevel_MT and DgmOctree::executeFunctionForAllCellsAtStartingLevel_MT methods). Consider the other version of getPoint instead or the GenericIndexedCloudPersist class.

Parameters: index (int) – index of the requested point (between 0 and the cloud size minus 1)
Returns: the requested point coordinates (undefined behavior if index is invalid)
Return type: tuple

getPointGlobalIndex(self: _cloudComPy.ReferenceCloud, arg0: int) → int

Returns global index (i.e. relative to the associated cloud) of a given element.

Parameters: localIndex (int) – local index (i.e. relative to the internal index container)
Returns: global index
Return type: int

getPointScalarValue(self: _cloudComPy.ReferenceCloud, arg0: int) → float

Returns the ith point associated scalar value.

Parameters: index (int) – local index
Returns: scalar value
Return type: float

isScalarFieldEnabled(self: _cloudComPy.ReferenceCloud) → bool

Returns True if the scalar field is enabled, False otherwise

Returns: is the ScalarField enabled?
Return type: bool

placeIteratorAtBeginning(self: _cloudComPy.ReferenceCloud) → None

Sets the cloud iterator at the beginning.

Virtual method to handle the cloud global iterator

setCurrentPointScalarValue(self: _cloudComPy.ReferenceCloud, arg0: float) → None

Sets the current point associated scalar value.

Parameters: value (float) – scalar value

setPointScalarValue(self: _cloudComPy.ReferenceCloud, arg0: int, arg1: float) → None

Sets the ith point associated scalar value.

Parameters

index (int) – local index
value (float) – scalar value

size(self: _cloudComPy.ReferenceCloud) → int

Returns the number of points in the cloud

Returns: number of points
Return type: int

class cloudComPy.GenericIndexedCloudPersist: Bases: pybind11_object

class cloudComPy.ccShiftedObject

Bases: ccHObject

getGlobalScale(self: _cloudComPy.ccShiftedObject) → float

Returns the scale applied to original coordinates.

Returns: the scale applied to original coordinates.
Return type: double

getGlobalShift(self: _cloudComPy.ccShiftedObject) → Vector3Tpl<T>

Returns the shift applied to original coordinates.

Original coordinates are equal to ‘(P/scale - shift)’ The shift is typically used when saving to a file.

Returns: applied shift (x, y, z)
Return type: tuple

isShifted(self: _cloudComPy.ccShiftedObject) → bool

Returns whether the cloud is shifted or not

Returns: whether the cloud is shifted or not
Return type: bool

setGlobalScale(self: _cloudComPy.ccShiftedObject, arg0: float) → None

Sets the scale applied to original coordinates (information storage only).

Parameters: scale (double) – scale applied

setGlobalShift(self: _cloudComPy.ccShiftedObject, arg0: float, arg1: float, arg2: float) → None

Sets shift applied to original coordinates (information storage only)

Such a shift can typically be applied at loading time. Original coordinates are equal to ‘(P/scale - shift)’

Parameters

x (double) – x shift
y (double) – y shift
z (double) – z shift

class cloudComPy.ccHObject

Bases: pybind11_object

addChild(self: _cloudComPy.ccHObject, child: _cloudComPy.ccHObject, dependencyFlags: int = <DEPENDENCY_FLAGS.DP_NONE: 0>, insertIndex: int = -1) → bool

Adds a child.

warning the C++ default for DEPENDENCY_FLAGS (DP_PARENT_OF_OTHER) is replaced by DP_NONE in Python: The other values may induce a delete of the original child object in C++, not handled correctly on the Python side.

Parameters

child (ccHObject) – child instance to append to the child list
dependencyFlags (DEPENDENCY_FLAGS,optional) – dependency flags, default DP_NONE
insertIndex (int,optional) – insertion index, default -1: if <0, child is simply appended to the children list.

Returns

success

Return type

bool

colorsShown(self: _cloudComPy.ccHObject) → bool

Returns True if the colors are shown, False otherwise. It is used to prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Returns: whether the colors are shown.
Return type: bool

countRef(self: object) → int: Get the value of the Python reference counter. Do not use, for debug and tests only.

decRef(self: handle) → None: Decrement the Python reference counter. Do not use, for debug and tests only.

getChild(self: _cloudComPy.ccHObject, arg0: int) → _cloudComPy.ccHObject

Get child by index.

Parameters: index (int) – index of child, see getChildrenNumber().
Returns: child object
Return type: ccHObject

getChildCountRecursive(self: _cloudComPy.ccHObject) → int

Get the number of children of this object, recursively.

Returns: number of children, recursively
Return type: int

getChildrenNumber(self: _cloudComPy.ccHObject) → int

Get the number of direct children of this object.

Returns: number of direct children
Return type: int

getClassID(self: _cloudComPy.ccHObject) → int

Get the type of this object.

Returns: type
Return type: CC_TYPE

getName(self: _cloudComPy.ccHObject) → QString

Get the name of the entity

Returns: entity name
Return type: str

getParent(self: _cloudComPy.ccHObject) → _cloudComPy.ccHObject

Get the parent of this object.

Returns: parent object
Return type: ccHObject

hasColors(self: _cloudComPy.ccHObject) → bool

Returns True if the entity has colors, False otherwise.

Returns: whether the entity has colors
Return type: bool

hasNormals(self: _cloudComPy.ccHObject) → bool

Returns True if the entity has normals, False otherwise.

Returns: whether the entity has normals
Return type: bool

hasScalarFields(self: _cloudComPy.ccHObject) → bool

Returns True if the entity has ScalarFields, False otherwise.

Returns: whether the entity has ScalarFields
Return type: bool

incRef(self: handle) → None: Increment the Python reference counter. Do not use, for debug and tests only.

isA(self: _cloudComPy.ccHObject, arg0: int) → bool

Check the type of object.

Parameters: type (CC_TYPES) – type to check
Returns: OK if object is of this type
Return type: bool

isKindOf(self: _cloudComPy.ccHObject, arg0: int) → bool

Check the type of object.

Parameters: type (CC_TYPES) – type to check
Returns: OK if object is a kind of this type
Return type: bool

normalsShown(self: _cloudComPy.ccHObject) → bool

Returns True if the normals are shown, False otherwise. It is used to prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Returns: whether the normals are shown
Return type: bool

setName(self: _cloudComPy.ccHObject, arg0: QString) → None

Set the name of the entity

Parameters: name (str) – entity name

sfShown(self: _cloudComPy.ccHObject) → bool

Returns True if the scalar fields are shown, False otherwise. It is used to prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Returns: whether the scalar fields are shown
Return type: bool

showColors(self: _cloudComPy.ccHObject, arg0: bool) → None

Prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Parameters: isShown (bool) – whether to show or not the colors.

showNormals(self: _cloudComPy.ccHObject, arg0: bool) → None

Prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Parameters: isShown (bool) – whether to show or not the normals.

showSF(self: _cloudComPy.ccHObject, arg0: bool) → None

Prepare the state of the entity when it is saved in a .bin format, for reopening in the GUI in a predefined state (colors, normal, scalarFields).

Parameters: isShown (bool) – whether to show or not the ScalarFields.

class cloudComPy.DEPENDENCY_FLAGS

Members:

DP_NONE

DP_NOTIFY_OTHER_ON_DELETE

DP_NOTIFY_OTHER_ON_UPDATE

DP_DELETE_OTHER

DP_PARENT_OF_OTHER

DP_DELETE_OTHER = <DEPENDENCY_FLAGS.DP_DELETE_OTHER: 8>

DP_NONE = <DEPENDENCY_FLAGS.DP_NONE: 0>

DP_NOTIFY_OTHER_ON_DELETE = <DEPENDENCY_FLAGS.DP_NOTIFY_OTHER_ON_DELETE: 1>

DP_NOTIFY_OTHER_ON_UPDATE = <DEPENDENCY_FLAGS.DP_NOTIFY_OTHER_ON_UPDATE: 2>

DP_PARENT_OF_OTHER = <DEPENDENCY_FLAGS.DP_PARENT_OF_OTHER: 24>

property name

property value

class cloudComPy.CLONE_WARNINGS

Members:

WRN_OUT_OF_MEM_FOR_COLORS

WRN_OUT_OF_MEM_FOR_NORMALS

WRN_OUT_OF_MEM_FOR_SFS

WRN_OUT_OF_MEM_FOR_FWF

WRN_OUT_OF_MEM_FOR_COLORS = <CLONE_WARNINGS.WRN_OUT_OF_MEM_FOR_COLORS: 1>

WRN_OUT_OF_MEM_FOR_FWF = <CLONE_WARNINGS.WRN_OUT_OF_MEM_FOR_FWF: 8>

WRN_OUT_OF_MEM_FOR_NORMALS = <CLONE_WARNINGS.WRN_OUT_OF_MEM_FOR_NORMALS: 2>

WRN_OUT_OF_MEM_FOR_SFS = <CLONE_WARNINGS.WRN_OUT_OF_MEM_FOR_SFS: 4>

property name

property value