Kornia: kornia-3d

3D computer vision and geometry library.

🚀 Overview

kornia-3d focuses on processing 3D data, including point clouds and geometric transformations, and aims to encompass everything 3D, with a roadmap toward richer 3D and map representations for large-scale environments. It provides tools for loading 3D data, performing rigid body transformations, and solving geometric problems like Perspective-n-Point (PnP), point cloud registration, and large-scale mapping

🔑 Key Features

Point Cloud I/O: Read and write support for standard 3D formats (e.g., PLY, PCD, XYZ).
Geometric Transforms: Apply rigid body transformations (rotation + translation) to point clouds.
Lie Algebra Integration: Built on kornia-algebra for robust SE(3) and SO(3) manipulations.
Registration: Algorithms like Iterative Closest Point (ICP) for aligning point clouds.
PnP Solvers: Solve for camera pose given 3D-2D point correspondences.

📦 Installation

Add the following to your Cargo.toml:

[dependencies]
kornia-3d = "0.1.0"

🛠️ Usage

Reading a Point Cloud

use kornia_3d::io::ply::{read_ply_binary, PlyType};

fn main() -> Result<(), Box<dyn std::error::Error>> {
    // 1. Load point cloud
    // This expects a PLY file in the specified binary format
    let pc = read_ply_binary("tests/data/box_stack.ply", PlyType::XYZRgbNormals);

    match pc {
        Ok(pc) => {
             println!("Loaded {} points", pc.len());
             if let Some(p) = pc.points().first() {
                 println!("First point: {:?}", p);
             }
        }
        Err(e) => println!("Could not load point cloud: {}", e),
    }

    Ok(())
}

🧩 Modules

io: Input/Output for 3D file formats.
linalg: Linear algebra utilities.
ops: Operations on 3D data processing.
pointcloud: Point cloud data structures and operations.
pnp: Perspective-n-Point solvers.
pose: Pose estimation algorithms.
registration: Point cloud alignment (ICP).
transforms: Geometric transformations for 3D points.

💡 Related Examples

You can find comprehensive examples in the examples folder of the repository:

pnp_demo: Example of solving the Perspective-n-Point problem.
icp_registration: Point cloud registration using ICP.

🤝 Contributing

Contributions are welcome! This crate is part of the Kornia workspace. Please refer to the main repository for contribution guidelines.

📄 License

This crate is licensed under the Apache-2.0 License.

kornia-3d 0.1.14