12.1.7.2. PointCloud

This demo shows how you can work with pointClouds based on the pointCloudLibrary in itom.

import numpy as np
from itom import pointCloud
from itom import polygonMesh
from itom import point

Create a new pointCloud.

pcl = pointCloud(point.PointXYZ)

Add 8 points of a unit cube.

pcl.append(point(point.PointXYZ, (0, 0, 0)))
pcl.append(point(point.PointXYZ, (1, 0, 0)))
pcl.append(point(point.PointXYZ, (0, 1, 0)))
pcl.append(point(point.PointXYZ, (1, 1, 0)))
pcl.append(point(point.PointXYZ, (0, 0, 1)))
pcl.append(point(point.PointXYZ, (1, 0, 1)))
pcl.append(point(point.PointXYZ, (0, 1, 1)))
pcl.append(point(point.PointXYZ, (1, 1, 1)))

# polygons:
polygons = np.array([[0, 1, 2], [0, 1, 3]])

mesh = polygonMesh.fromCloudAndPolygons(pcl, polygons)

# polygonMesh(pcl, vertices)