Open3DSharpWrapper 1.2.1

Open3DSharpWrapper

A C# wrapper around Open3D's point cloud processing API. Open3D itself only ships Python and C++ bindings — this package exposes most of open3d::geometry::PointCloud as a .NET API, so you can load, transform, filter, analyze, and visualize point clouds directly from a C# project, with no separate SDK download or C++ build step.

• Platform: Windows x64 only. The package bundles the native Open3D runtime for win-x64 (Open3D.dll, Open3DLibrary.dll, tbb12.dll, and the resource files the visualizer needs) — nothing else to install.
• Frameworks: net8.0 and net10.0.
• Source / issues / full docs: github.com/IgnasKrivas/Open3DSharpWrapper

Install

dotnet add package Open3DSharpWrapper

That's it — the native runtime comes with the package.

Quick start

using Open3DWrapper;

using var cloud = new PointCloud("scan.ply");
Console.WriteLine($"{cloud.Size} points");

using var downsampled = cloud.VoxelDownSample(0.05);
downsampled.EstimateNormals();
downsampled.NormalizeNormals();

var (result, kept) = downsampled.RemoveStatisticalOutliers(nbNeighbors: 20, stdRatio: 2.0);
result.WritePointCloud("cleaned.ply");

result.Show(); // opens an Open3D viewer window

Every native handle (PointCloud, TriangleMesh, OrientedBoundingBox) implements IDisposable — wrap them in using or call Dispose() when you're done with them.

What's included

PointCloud covers most of open3d::geometry::PointCloud's public API:

• Point data: points/normals/colors/covariances (get/set per-index, resize, Has*)
• Bounds: min/max/center, axis-aligned and oriented bounding boxes
• Transforms: Transform, Translate, Scale, Rotate, Append
• Downsampling & filtering: VoxelDownSample (+AndTrace), UniformDownSample, RandomDownSample, FarthestPointDownSample, SelectByIndex, CropAxisAligned/CropOriented, RemoveNonFinitePoints, RemoveDuplicatedPoints, RemoveRadiusOutliers, RemoveStatisticalOutliers
• Analysis: EstimateNormals/EstimateCovariances (+ orientation variants), ComputeMeanAndCovariance, ComputePointCloudDistance, ComputeMahalanobisDistance, ComputeNearestNeighborDistance, ComputeConvexHull, HiddenPointRemoval, ClusterDBSCAN, SegmentPlane, DetectPlanarPatches
• IO: read on construction, WritePointCloud

Methods that hand back a different geometry type (ComputeConvexHull/HiddenPointRemoval → TriangleMesh, GetOrientedBoundingBox/DetectPlanarPatches → OrientedBoundingBox) return a disposable handle you can Show() or pass into other calls — their own vertex/triangle/extent accessors aren't wrapped yet.

Not yet covered: CreateFromDepthImage/CreateFromRGBDImage/CreateFromVoxelGrid (these need Image/RGBDImage/VoxelGrid/camera-intrinsics types that aren't wrapped yet), and full method surfaces for TriangleMesh/OrientedBoundingBox beyond handle lifetime + visualization.

Release channels

• Stable (default — what dotnet add package gives you): published only when a maintainer manually cuts a GitHub Release. Bundles whichever Open3D version is the officially-supported one at that time.
• Preview (X.Y.Z-preview.<open3d-version>, e.g. 1.2.0-preview.0.19.0): published automatically whenever the project's weekly compatibility check successfully validates a new Open3D release, ahead of it becoming the official stable target. Being a prerelease, it's never resolved by a plain dotnet add package — opt in explicitly if you want to try a newer Open3D version early:

  dotnet add package Open3DSharpWrapper --prerelease
  

  or pin an exact preview version.

License & acknowledgments

MIT licensed. This package is a thin wrapper — all the actual point cloud processing is Open3D (isl-org/Open3D, also MIT) doing the work.