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# fiftyone.core.threed.pointcloud

PointCloud definition for 3D visualization.

Copyright 2017-2026, Voxel51, Inc.
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[voxel51.com](https://voxel51.com/)
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**Classes:**

| [`PointCloud`](#fiftyone.core.threed.pointcloud.PointCloud)(name, pcd_path[, material, ...])   | Represents a point cloud.   |
|------------------------------------------------------------------------------------------------|-----------------------------|

### *class* fiftyone.core.threed.pointcloud.PointCloud(name: str, pcd_path: str, material: [PointCloudMaterial](fiftyone.core.threed.material_3d.md#fiftyone.core.threed.material_3d.PointCloudMaterial) | None = None, center_geometry: [bool](fiftyone.core.stages.md#fiftyone.core.stages.Exists.bool) = False, flag_for_projection: [bool](fiftyone.core.stages.md#fiftyone.core.stages.Exists.bool) = False, visible=True, position: [Vector3](fiftyone.core.threed.transformation.md#fiftyone.core.threed.transformation.Vector3) | List[float] | Tuple[float] | array | None = None, scale: [Vector3](fiftyone.core.threed.transformation.md#fiftyone.core.threed.transformation.Vector3) | List[float] | Tuple[float] | array | None = None, quaternion: [Quaternion](fiftyone.core.threed.transformation.md#fiftyone.core.threed.transformation.Quaternion) | None = None)

Bases: [`Object3D`](fiftyone.core.threed.object_3d.md#fiftyone.core.threed.object_3d.Object3D)

Represents a point cloud.

* **Parameters:**
  * **name** (*str*) – the name of the point cloud
  * **pcd_path** (*str*) – the path to the `.pcd` file. The path may be either
    absolute or relative to the directory containing the `.fo3d` file
  * **material** ([`fiftyone.core.threed.PointCloudMaterial`](fiftyone.core.threed.md#fiftyone.core.threed.PointCloudMaterial), optional) – the material of the point cloud. If not specified, defaults to a
    new instance of [`fiftyone.core.threed.PointCloudMaterial`](fiftyone.core.threed.md#fiftyone.core.threed.PointCloudMaterial)
    with its default parameters
  * **center_geometry** ([*bool*](fiftyone.core.stages.md#fiftyone.core.stages.Exists.bool)) – whether to center the geometry of the point
    cloud. Defaults to `False`
  * **flag_for_projection** ([*bool*](fiftyone.core.stages.md#fiftyone.core.stages.Exists.bool)) – whether to flag the point cloud for
    usage in orthographic projection. Each
    [`fiftyone.core.threed.Scene`](fiftyone.core.threed.md#fiftyone.core.threed.Scene) can have at most one asset
    flagged for orthographic projection. Defaults to `False`. If
    multiple assets are flagged, the first one will be chosen
  * **visible** (*True*) – default visibility of the point cloud in the scene
  * **position** (*None*) – the position of the object in point cloud space
  * **quaternion** (*None*) – the quaternion of the point cloud in object space
  * **scale** (*None*) – the scale of the point cloud in object space
* **Raises:**
  **ValueError** – if `pcd_path` does not end with `.pcd`

**Methods:**

| [`set_default_material`](#fiftyone.core.threed.pointcloud.PointCloud.set_default_material)(material)          | Sets the material of the point cloud.                                       |
|---------------------------------------------------------------------------------------------------------------|-----------------------------------------------------------------------------|
| [`add`](#fiftyone.core.threed.pointcloud.PointCloud.add)(\*objs)                                              | Add one or more objects as children of this one.                            |
| [`as_dict`](#fiftyone.core.threed.pointcloud.PointCloud.as_dict)()                                            | Converts the object to a dict.                                              |
| [`clear`](#fiftyone.core.threed.pointcloud.PointCloud.clear)()                                                | Remove all children from this object.                                       |
| [`find_and_execute`](#fiftyone.core.threed.pointcloud.PointCloud.find_and_execute)(node, predicate, on_match) | Recursively search the scene graph and execute an action on matching nodes. |
| [`remove`](#fiftyone.core.threed.pointcloud.PointCloud.remove)(\*objs)                                        | Remove one or more objects from the scene graph recursively.                |
| [`remove_by_name`](#fiftyone.core.threed.pointcloud.PointCloud.remove_by_name)(name)                          | Remove all objects with the given name from the scene graph recursively.    |
| [`remove_by_uuid`](#fiftyone.core.threed.pointcloud.PointCloud.remove_by_uuid)(target_uuid)                   | Remove the object with the given UUID from the scene graph recursively.     |
| [`traverse`](#fiftyone.core.threed.pointcloud.PointCloud.traverse)([include_self])                            | Traverse the scene graph.                                                   |

**Attributes:**

| [`local_transform_matrix`](#fiftyone.core.threed.pointcloud.PointCloud.local_transform_matrix)   | The local transform matrix of the object.     |
|--------------------------------------------------------------------------------------------------|-----------------------------------------------|
| [`position`](#fiftyone.core.threed.pointcloud.PointCloud.position)                               | The position of the object in object space.   |
| [`quaternion`](#fiftyone.core.threed.pointcloud.PointCloud.quaternion)                           | The quaternion of the object in object space. |
| [`rotation`](#fiftyone.core.threed.pointcloud.PointCloud.rotation)                               | The rotation of the object in object space.   |
| [`scale`](#fiftyone.core.threed.pointcloud.PointCloud.scale)                                     | The scale of the object in object space.      |
| [`uuid`](#fiftyone.core.threed.pointcloud.PointCloud.uuid)                                       | The unique ID of the object.                  |

#### set_default_material(material: [PointCloudMaterial](fiftyone.core.threed.material_3d.md#fiftyone.core.threed.material_3d.PointCloudMaterial))

Sets the material of the point cloud.

* **Parameters:**
  **material** ([*PointCloudMaterial*](fiftyone.core.threed.md#fiftyone.core.threed.PointCloudMaterial)) – The material to set as the default

#### add(\*objs: [Object3D](fiftyone.core.threed.object_3d.md#fiftyone.core.threed.object_3d.Object3D)) → None

Add one or more objects as children of this one.

#### as_dict()

Converts the object to a dict.

#### clear() → None

Remove all children from this object.

#### find_and_execute(node: [Object3D](fiftyone.core.threed.object_3d.md#fiftyone.core.threed.object_3d.Object3D), predicate, on_match, stop_on_first_match: [bool](fiftyone.core.stages.md#fiftyone.core.stages.Exists.bool) = False) → [bool](fiftyone.core.stages.md#fiftyone.core.stages.Exists.bool)

Recursively search the scene graph and execute an action on
matching nodes.

This is a generic method for traversing the scene graph and
performing operations on nodes that match a given predicate.
It can be used for finding and removing nodes, collecting nodes,
updating nodes, etc.

The traversal continues into the subtrees of both matching and
non-matching nodes. For matching nodes, the subtree is traversed
when on_match returns True and stop_on_first_match is False.

* **Parameters:**
  * **node** – the node to start searching from
  * **predicate** – a function that takes a child Object3D and returns
  * **criteria** (*True if it matches the search*)
  * **on_match** – a function called when a match is found, takes
  * **(****parent**
  * **searching** ([*child*](fiftyone.core.odm.md#fiftyone.core.odm.WorkspaceDocument.child) *)* *and returns True to continue*)
  * **to** (*False*)
  * **stop**
  * **stop_on_first_match** – if True, stop searching after first match
  * **processed** (*is*)
* **Returns:**
  True if a match was found and we should stop, False otherwise

### Example

# Find all nodes with a specific name and collect them
matches = []
def predicate(child):

> return child.name == “target”

def on_match(parent, child):
: matches.append(child)
  return True  # continue searching

scene.find_and_execute(scene, predicate, on_match)

#### *property* local_transform_matrix

The local transform matrix of the object.

Setting this property also decomposes the matrix into
its constituent position, quaternion, and scale components.
However, decomposition of matrices with skew / shear components
(non-uniform scaling) might have unexpected results.

#### *property* position

The position of the object in object space.

#### *property* quaternion

The quaternion of the object in object space.

#### remove(\*objs: [Object3D](fiftyone.core.threed.object_3d.md#fiftyone.core.threed.object_3d.Object3D)) → None

Remove one or more objects from the scene graph recursively.

This method searches recursively through the entire scene graph starting
from this object and removes any matching objects from their parent’s
children list.

* **Parameters:**
  **\*objs** – one or more Object3D instances to remove
* **Raises:**
  * **ValueError** – if any of the objects to remove is this object itself
  * **ValueError** – if any of the objects is not found in the scene graph

#### remove_by_name(name: str) → None

Remove all objects with the given name from the scene graph recursively.

This method searches recursively through the entire scene graph starting
from this object and removes all objects matching the given name from
their parent’s children lists.

* **Parameters:**
  **name** – the name of the objects to remove
* **Raises:**
  * **ValueError** – if attempting to remove this object itself by name
  * **ValueError** – if no objects with the given name are found

#### remove_by_uuid(target_uuid: str) → None

Remove the object with the given UUID from the scene graph recursively.

This method searches recursively through the entire scene graph starting
from this object and removes the object matching the given UUID from its
parent’s children list. UUIDs should be unique, so only one match is expected.

* **Parameters:**
  **target_uuid** – the UUID of the object to remove
* **Raises:**
  * **ValueError** – if attempting to remove this object itself by UUID
  * **ValueError** – if no object with the given UUID is found

#### *property* rotation

The rotation of the object in object space.

#### *property* scale

The scale of the object in object space.

#### traverse(include_self=True)

Traverse the scene graph.

#### *property* uuid

The unique ID of the object.